The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to acc...The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical system.Furthermore,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state accuracy.To reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was observed.Therefore,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite time.Finally,the simulation results verified the effectiveness of the proposed control method.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.62121004,62033003,62003098,62103111,and 62303125)the Local Innovative and Research Teams Project of Guangdong Special Support Program(Grant No.2019BT02X353)+2 种基金the China Postdoctoral Science Foundation(Grant Nos.2021TQ0079 and 2021M700883)the Natural Science Foundation of Guangdong Province(Grant Nos.2023A1515011527 and 2022A1515011506)the Guangdong Basic and Applied Basic Research Foundation(Grant Nos.2023A1515010855 and 2022A1515110949)。
文摘The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical system.Furthermore,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state accuracy.To reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was observed.Therefore,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite time.Finally,the simulation results verified the effectiveness of the proposed control method.
