哈尔滨工程大学学报2016，Vol.37Issue(2)：157-161,167,6.DOI:10.11990/jheu.201512037
输入受限的网络Euler-Lagrange系统有限时间一致性
Finite-time consensus control for networked Euler-Lagrange systems with input saturations
摘要
Abstract
This article focuses on the finite⁃time coordinated consensus problem for networked Euler⁃Lagrange sys⁃tems with control torque constraints and the velocity is not available for feedback. Based on the finite⁃time control technology, by using hyperbolic tangent function, a velocity⁃free distributed finite⁃time consensus algorithm is de⁃signed for velocity is not measurable and the control inputs are regarded as a priori bounded. Rigorous proof shows that the positions and velocities of all agents can be achieved consensus in finite⁃time and the control scheme satis⁃fies the control torque constraints requirement with the algebraic graph theory, homogeneous method and Lyapunov stability theory. Finally, numerical simulation validates the effectiveness and feasibility of the proposed method with control torque constraints and without velocity measurements.关键词
Euler-Lagrange系统/有限时间/速度信息不可测/一致性算法Key words
Euler-Lagrange systems/finite-time/without velocity measurements/consensus algorithm分类
信息技术与安全科学引用本文复制引用
袁利毫,罗礼勇,昝英飞,李新飞..输入受限的网络Euler-Lagrange系统有限时间一致性[J].哈尔滨工程大学学报,2016,37(2):157-161,167,6.基金项目
国家科技重大专项资助项目（20112X05027）． （）
