Quantized practical fixed-time consensus tracking for networked Euler–Lagrange systems under the predetermined workspace

Abstract

This paper tries to solve the quantized practical fixed-time consensus tracking problem for networked Euler–Lagrange systems under the predetermined workspace. To realize the information interaction under the limited bandwidth, a set of encoder, decoder, and average quantizers are constructed to process the interaction data. On this basis, a fixed-time observer is proposed so that each follower can estimate the leader’s information within the quantized communication environment. Afterward, the local tracking control algorithm is designed by using backstepping strategy and adaptive technology, and the state constraint function is introduced to cope with the asymmetric time-varying constraint problem. With the Lyapunov stability criterion, all error signals are guaranteed to remain in the compact sets near the origin within the fixed time. Ultimately, a numerical example is carried out to testify the validity of the proposed scheme.