| 引用本文: | 陶梦,刘小洋,曹进德,邵劭.滑模控制下多Euler-Lagrange系统预设时间二分一致性[J].控制理论与应用,2023,40(11):1949~1956.[点击复制] |
| TAO Meng,LIU Xiao-yang,CAO Jin-de,SHAO Shao.Prescribed-time bipartite consensus of multiple Euler-Lagrange systems via sliding-mode control[J].Control Theory and Technology,2023,40(11):1949~1956.[点击复制] |
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| 滑模控制下多Euler-Lagrange系统预设时间二分一致性 |
| Prescribed-time bipartite consensus of multiple Euler-Lagrange systems via sliding-mode control |
| 摘要点击 1330 全文点击 423 投稿时间：2022-05-17 修订日期：2023-08-31 |
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| DOI编号 10.7641/CTA.2023.20404 |
| 2023,40(11):1949-1956 |
| 中文关键词 二分一致性 多Euler-Lagrange系统 外部干扰 预设时间 滑模控制 |
| 英文关键词 bipartite consensus multiple Euler-Lagrange systems external disturbances prescribed time sliding-mode control |
| 基金项目 国家自然科学基金项目(62276119), 江苏师范大学研究生科研与实践创新计划项目(2021XKT1401) |
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| 中文摘要 |
| 本文研究了具有外部干扰的多Euler-Lagrange系统预设时间滑模二分一致性问题. 通过设计分布式控制协议, 使得具有动态领导者的多Euler-Lagrange系统在预设时间内到达滑模面, 从而进一步在另一预设时间内实现二分一致性. 本文采用的终端滑模控制方法可以在克服外部干扰的基础上保证系统在预设时间内实现期望的控制目标. 最后, 通过数值仿真验证了理论结果的可行性和有效性 |
| 英文摘要 |
| This paper investigates the prescribed-time bipartite sliding-mode consensus of multiple Euler-Lagrange systems with external disturbances. By designing a distributed controller, the multiple Euler-Lagrange systems with a dynamic leader are driven to achieve the sliding-mode surface within a preset time, and thus reach the bipartite consensus within another prescribed time. The terminal sliding-mode control protocol proposed in this paper can ensure that the systems achieve the desired control objective within a prescribed time on the basis of overcoming external disturbances. Finally, one numerical simulation is provided to illustrate the feasibility and effectiveness of the theoretical results. |