Finite-time Consensus of Networked Euler-Lagrange Systems via STA-based Output Feedback

• Published in: International journal of control, automation, and systems Vol. 20; no. 9; pp. 2993 - 3005
• Main Authors: Fan, Yanyan, Jin, Zhenlin, Guo, Baosu, Luo, Xiaoyuan, Guan, Xinping
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.09.2022; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Algorithms; Control; Engineering; Feedback control; Mathematical models; Mechatronics; Output feedback; Regular Paper; Robotics; Stability analysis; State feedback; Velocity errors; 제어계측공학; Euler-Lagrange systems; Distributed control; super-twisting observer; finite-time consensus
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-021-0393-5

The consensus problem based on full state feedback has been extensively studied, but rarely for leaderless distributed finite-time consensus of networked Euler-Lagrange systems based on output-feedback. In this work, the finite-time consensus problem of networked Euler-Lagrange systems subject to unknown velocity is studied. A finite-time consensus protocol is first proposed based on the relative positions and velocities. Then, the more challenging situation of networked Euler-Lagrange systems subject to unmeasurable velocity is considered. A model-independent observer based on the super-twisting algorithm (STA) is developed for velocity error estimation, based upon which a finite-time output feedback control protocol is developed for consensus of the networked Euler-Lagrange systems. Stability analysis shows that the networked Euler-Lagrange systems can achieve consensus in finite time. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed control algorithms.