Finite-time and Fixed-time Time-varying Formation Tracking for Multiple Euler-Lagrange Systems With Disturbances

• Published in: International journal of control, automation, and systems Vol. 22; no. 8; pp. 2463 - 2471
• Main Authors: Chen, Lin-Jing, Han, Tao, Xiao, Bo, Yan, Huaicheng
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.08.2024; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Control; Disturbances; Engineering; Initial conditions; Mechatronics; Regular Papers; Robotics; Stability analysis; Topology; Tracking; 제어계측공학; Estimator-based hierarchical control (EBHC); fixed-time time-varying formation tracking (Fix-TVFT); finite-time time-varying formation tracking (Fin-TVFT); multiple Euler-Lagrange systems (MELSs)
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-023-0587-0

This article mainly tackles the finite-time time-varying formation tracking (Fin-TVFT) problem and fixed-time time-varying formation tracking (Fix-TVFT) problem of multiple Euler-Lagrange systems (MELSs) subject to the external disturbances under the directed interaction topology. The distributed estimator-based hierarchical control (EBHC) algorithms are respectively formulated to achieve the foregoing problems. Note that the settling time of Fin-TVFT depends on the initial values, but the convergence time of Fix-TVFT is independent of the initial conditions. According to the Lyapunov stability analysis, several sufficient conditions for accomplishing the Fin-TVFT and Fix-TVFT are derived. Eventually, the simulation results are exhibited in order to illustrate the feasibility of the designed algorithms.