Distributed Fixed-time Optimization for Multiple Mechanical Systems

Abstract

Under the general unbalanced directed communication graphs, distributed fixed-time optimization problem is studied for multiple mechanical systems modeled by Euler-Lagrange equations. Distributed controllers have been developed to achieve the optimal position of each agent within a fixed time by integrating distributed fixed-time estimator techniques and a fixed-time control design in a cohesive manner. The effectiveness of the proposed control protocol is also illustrated by a numerical simulation.