{"title":"Finite-time and Fixed-time Time-varying Formation Tracking for Multiple Euler-Lagrange Systems With Disturbances","authors":"Lin-Jing Chen, Tao Han, Bo Xiao, Huaicheng Yan","doi":"10.1007/s12555-023-0587-0","DOIUrl":null,"url":null,"abstract":"<p>This article mainly tackles the finite-time time-varying formation tracking (Fin-TVFT) problem and fixed-time time-varying formation tracking (Fix-TVFT) problem of multiple Euler-Lagrange systems (MELSs) subject to the external disturbances under the directed interaction topology. The distributed estimator-based hierarchical control (EBHC) algorithms are respectively formulated to achieve the foregoing problems. Note that the settling time of Fin-TVFT depends on the initial values, but the convergence time of Fix-TVFT is independent of the initial conditions. According to the Lyapunov stability analysis, several sufficient conditions for accomplishing the Fin-TVFT and Fix-TVFT are derived. Eventually, the simulation results are exhibited in order to illustrate the feasibility of the designed algorithms.</p>","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"26 1","pages":""},"PeriodicalIF":2.5000,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Control Automation and Systems","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1007/s12555-023-0587-0","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This article mainly tackles the finite-time time-varying formation tracking (Fin-TVFT) problem and fixed-time time-varying formation tracking (Fix-TVFT) problem of multiple Euler-Lagrange systems (MELSs) subject to the external disturbances under the directed interaction topology. The distributed estimator-based hierarchical control (EBHC) algorithms are respectively formulated to achieve the foregoing problems. Note that the settling time of Fin-TVFT depends on the initial values, but the convergence time of Fix-TVFT is independent of the initial conditions. According to the Lyapunov stability analysis, several sufficient conditions for accomplishing the Fin-TVFT and Fix-TVFT are derived. Eventually, the simulation results are exhibited in order to illustrate the feasibility of the designed algorithms.
期刊介绍：
International Journal of Control, Automation and Systems is a joint publication of the Institute of Control, Robotics and Systems (ICROS) and the Korean Institute of Electrical Engineers (KIEE).
The journal covers three closly-related research areas including control, automation, and systems.
The technical areas include
Control Theory
Control Applications
Robotics and Automation
Intelligent and Information Systems
The Journal addresses research areas focused on control, automation, and systems in electrical, mechanical, aerospace, chemical, and industrial engineering in order to create a strong synergy effect throughout the interdisciplinary research areas.
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