Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2242-2250

https://doi.org/10.1007/s12555-023-0110-7

© The International Journal of Control, Automation, and Systems

Predefined-time Leader-following Consensus for Networked Euler-Lagrange Systems With External Disturbance

Hui-Min Zhong, Tao Han*, Bo Xiao, Xi-Sheng Zhan, and Huaicheng Yan

Hubei Normal University

Abstract

In this article, a predefined-time control framework is presented to accomplish the leader-following consensus for Euler-Lagrange (EL) systems, in which a dynamical leader is considered and only a subset of the followers can obtain the information from leader. In order to address the aforementioned problem, a predefinedtime control algorithm has been proposed. To be specific, a set of distributed estimators are firstly established to acquire the estimated states of the leader at a predefined time. Then, by applying the designed controller based on sliding surface control, the predefined-time leader-following consensus (PTLFC) problem has been addressed. Moreover, based on Lyapunov argument and input to state stability criterion, sufficient conditions for predefinedtime stability are derived. Finally, a large number of simulation examples are given to illustrate the validity of the main results.

Keywords Euler-Lagrange (EL) systems, multi-agent systems (MASs), predefined-time leader-following consensus (PTLFC).

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2242-2250

Published online July 1, 2024 https://doi.org/10.1007/s12555-023-0110-7

Copyright © The International Journal of Control, Automation, and Systems.

Predefined-time Leader-following Consensus for Networked Euler-Lagrange Systems With External Disturbance

Hui-Min Zhong, Tao Han*, Bo Xiao, Xi-Sheng Zhan, and Huaicheng Yan

Hubei Normal University

Abstract

In this article, a predefined-time control framework is presented to accomplish the leader-following consensus for Euler-Lagrange (EL) systems, in which a dynamical leader is considered and only a subset of the followers can obtain the information from leader. In order to address the aforementioned problem, a predefinedtime control algorithm has been proposed. To be specific, a set of distributed estimators are firstly established to acquire the estimated states of the leader at a predefined time. Then, by applying the designed controller based on sliding surface control, the predefined-time leader-following consensus (PTLFC) problem has been addressed. Moreover, based on Lyapunov argument and input to state stability criterion, sufficient conditions for predefinedtime stability are derived. Finally, a large number of simulation examples are given to illustrate the validity of the main results.

Keywords: Euler-Lagrange (EL) systems, multi-agent systems (MASs), predefined-time leader-following consensus (PTLFC).

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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