滑模控制下多Euler-Lagrange系统预设时间二分一致性

Prescribed-time bipartite consensus of multiple Euler-Lagrange systems via sliding-mode control

本文研究了具有外部干扰的多Euler-Lagrange系统预设时间滑模二分一致性问题.通过设计分布式控制协议,使得具有动态领导者的多Euler-Lagrange系统在预设时间内到达滑模面,从而进一步在另一预设时间内实现二分一致性.本文采用的终端滑模控制方法可以在克服外部干扰的基础上保证系统在预设时间内实现期望的控制目标.最后,通过数值仿真验证了理论结果的可行性和有效性.

This paper investigates the prescribed-time bipartite sliding-mode consensus of multiple Euler-Lagrange systems with external disturbances.By designing a distributed controller,the multiple Euler-Lagrange systems with a dynamic leader are driven to achieve the sliding-mode surface within a preset time,and thus reach the bipartite consensus within another prescribed time.The terminal sliding-mode control protocol proposed in this paper can ensure that the systems achieve the desired control objective within a prescribed time on the basis of overcoming external disturbances.Finally,one numerical simulation is provided to illustrate the feasibility and effectiveness of the theoretical results.