Distributed Fixed-time Formation-containment Control for Multiple Euler-Lagrange Systems with Directed Graphs

In this paper, the distributed fixed-time formation-containment (DFTFC) problem of multiple Euler-Lagrange systems with parametric uncertainties and input disturbances is studied under directed graphs. First, a distributed fixed-time sliding-mode estimator is constructed to estimate the desired stat...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2021, Automation, and Systems, 19(2), , pp.837-849
Main Authors: Hua, Menghu, Ding, Huafeng, Yao, Xiang-Yu, Zhang, Xinxin
Format: Article
Language:English
Subjects:
Algorithms
Containment
Control
Control algorithms
Control theory
Engineering
Graph theory
Graphs
Initial conditions
Mechatronics
Regular Papers
Robotics
Upper bounds
제어계측공학
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Summary:In this paper, the distributed fixed-time formation-containment (DFTFC) problem of multiple Euler-Lagrange systems with parametric uncertainties and input disturbances is studied under directed graphs. First, a distributed fixed-time sliding-mode estimator is constructed to estimate the desired states of each robot with that only parts of followers can access the information of leaders. Next, based on the estimator, a distributed fixed-time formation control algorithm is developed to drive leaders to achieve a specified formation. Then, the distributed fixed-time containment control algorithm is proposed for followers with its estimated states being tracked in a fixed time. Note that an explicit upper bound of the convergence time of DFTFC control algorithm is obtained independent of initial conditions. Finally, numerical simulations are performed to show the effectiveness of the obtained theoretical results.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-020-0106-5