控制理论与应用2023，Vol.40Issue(11)：1949-1956,8.DOI:10.7641/CTA.2023.20404
滑模控制下多Euler-Lagrange系统预设时间二分一致性
Prescribed-time bipartite consensus of multiple Euler-Lagrange systems via sliding-mode control
摘要
Abstract
This paper investigates the prescribed-time bipartite sliding-mode consensus of multiple Euler-Lagrange systems with external disturbances.By designing a distributed controller,the multiple Euler-Lagrange systems with a dynamic leader are driven to achieve the sliding-mode surface within a preset time,and thus reach the bipartite consensus within another prescribed time.The terminal sliding-mode control protocol proposed in this paper can ensure that the systems achieve the desired control objective within a prescribed time on the basis of overcoming external disturbances.Finally,one numerical simulation is provided to illustrate the feasibility and effectiveness of the theoretical results.关键词
二分一致性/多Euler-Lagrange系统/外部干扰/预设时间/滑模控制Key words
bipartite consensus/multiple Euler-Lagrange systems/external disturbances/prescribed time/sliding-mode control引用本文复制引用
陶梦,刘小洋,曹进德,邵劭..滑模控制下多Euler-Lagrange系统预设时间二分一致性[J].控制理论与应用,2023,40(11):1949-1956,8.基金项目
国家自然科学基金项目(62276119),江苏师范大学研究生科研与实践创新计划项目(2021XKT1401)资助.Supported by the National Natural Science Foundation of China(62276119)and the Postgraduate Research & Practice Innovation Program of Jiangsu Normal University(2021XKT1401). （62276119）
