Finite-time multi-target tracking of networked Euler–Lagrange systems via hierarchical active disturbance rejection control
Jiu-Wang Dong, Chang‐Duo Liang, Ming‐Feng Ge, Teng‐Fei Ding, Xiao‐Wen Zhao, Zhi‐Wei Liu
Abstract
This paper investigates the finite-time multi-target tracking problem of networked Euler–Lagrange systems (NELSs) with a directed interaction topology, parametric uncertainties and external disturbances. A novel finite-time hierarchical active disturbance rejection control (ADRC) algorithm is designed to handle such a challenging problem without velocity measurement. To be specific, a nonsingular distributed estimator algorithm is newly designed to respectively estimate the states of the targets in a finite time. Based on the extended state observer (ESO), we present a finite-time local control scheme to obtain satisfactory tracking performance of the NELSs. Besides, sufficient conditions for deriving the finite-time stability of the cascade closed-loop systems are presented based on the Lyapunov argument. Finally, numerical simulations are performed to show the control performance and feasibility of the main results.