Predefined-Time Bipartite Consensus of Networked Euler-Lagrange Systems via Sliding-Mode Control
Meng Tao, Xiaoyang Liu, Shao Shao, Jinde Cao
Abstract
This brief investigates the predefined-time bipartite consensus of multiple Euler-Lagrange systems with a dynamic leader. A new distributed predefined-time observer is added to estimate the desired velocity of each follower. Then, a new sliding surface and a distributed protocol are constructed to guarantee the networked systems achieve the bipartite consensus within a predefined time. It should be pointed out that, all the observing time, sliding time and reaching time can be preset in advance according to the task requirements. One numerical example with two-link robot arms is proposed to verify the effectiveness of the new designs.
Topics & Concepts
Bipartite graphObserver (physics)Control theory (sociology)Computer scienceProtocol (science)Control (management)Theoretical computer scienceArtificial intelligencePhysicsPathologyAlternative medicineMedicineQuantum mechanicsGraphDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsAdvanced Memory and Neural Computing