曲阜师范大学学报（自然科学版）2025，Vol.51Issue(3)：31-38,8.DOI:10.3969/j.issn.1001-5337.2025.3.031
网络化集群机器人系统分群有限时间一致
Group finite-time consensus for networked robot systems
摘要
Abstract
This paper investigates the finite-time group consensus problems for networked multi-Lagrange systems(MLSs)with parameter uncertainty under directed topology.To address the problems of nonlinear Lagrange dynamics with parameter uncertainty,the paper proposes adaptive finite-time control protocols by introducing two types of sliding vectors.The results show that the given sliding control in the paper solves the nonlinear problems of the MLSs under the group networks and ensures the finite-time consistent convergence of the system.Under the group topology,the networked MLSs are distributed to achieve group finite-time consensus.Finally,the simulation results illustrate the feasibility of the control protocol,and show the effectiveness of the finite-time control methods.关键词
有限时间控制/滑模控制/分群一致/多拉格朗日系统/多机器人系统Key words
finite-time control/sliding control/group consensus/multi-Lagrange systems/multi-robot systems分类
计算机与自动化引用本文复制引用
马新茹,谢永浩,王兆艳,马小翠,李恒宇,刘军..网络化集群机器人系统分群有限时间一致[J].曲阜师范大学学报（自然科学版）,2025,51(3):31-38,8.基金项目
国家自然科学基金(61703181,61991415,62073209) （61703181,61991415,62073209）
山东省自然科学基金(ZR2020KA005) （ZR2020KA005）
教育部人文社会科学研究规划基金(23YJAZH081) （23YJAZH081）
济宁市重点研发计划(2023ZDZP034). （2023ZDZP034）
