Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs

Tao Xu; Yuezu Lv; Zhisheng Duan

doi:10.1016/j.ifacol.2020.12.191

Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs

Tao Xu^*, Yuezu Lv, Zhisheng Duan^*

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

2 Citations (Scopus)

Abstract

The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control laws, the desired cooperative control objectives of this paper can be realized in finite time, and the estimate of the settling times are explicitly provided. Another distinct feature of our work is that the communication interactions between neighboring agents are unidirectional, which is more practical in real applications. Finally, some simulation results are shown to validate the feasibility of the theoretical schemes.

Original language	English
Pages (from-to)	2453-2458
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.191
Publication status	Published - 2020
Externally published	Yes
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020

Keywords

Containment control
Directed graph
Distributed finite-time control
Euler-Lagrange system
Synchronization control

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10.1016/j.ifacol.2020.12.191

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@article{65abd9b8013e457f85766ef73a30ec84,

title = "Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs",

abstract = "The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control laws, the desired cooperative control objectives of this paper can be realized in finite time, and the estimate of the settling times are explicitly provided. Another distinct feature of our work is that the communication interactions between neighboring agents are unidirectional, which is more practical in real applications. Finally, some simulation results are shown to validate the feasibility of the theoretical schemes.",

keywords = "Containment control, Directed graph, Distributed finite-time control, Euler-Lagrange system, Synchronization control",

author = "Tao Xu and Yuezu Lv and Zhisheng Duan",

note = "Publisher Copyright: Copyright {\textcopyright} 2020 The Authors. This is an open access article under the CC BY-NC-ND license; 21st IFAC World Congress 2020 ; Conference date: 12-07-2020 Through 17-07-2020",

year = "2020",

doi = "10.1016/j.ifacol.2020.12.191",

language = "English",

volume = "53",

pages = "2453--2458",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "Elsevier B.V.",

number = "2",

}

TY - JOUR

T1 - Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs

AU - Xu, Tao

AU - Lv, Yuezu

AU - Duan, Zhisheng

PY - 2020

Y1 - 2020

N2 - The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control laws, the desired cooperative control objectives of this paper can be realized in finite time, and the estimate of the settling times are explicitly provided. Another distinct feature of our work is that the communication interactions between neighboring agents are unidirectional, which is more practical in real applications. Finally, some simulation results are shown to validate the feasibility of the theoretical schemes.

AB - The distributed coordination problems for networked Euler-Lagrange systems are investigated in this paper, where both the distributed synchronization control and the distributed containment control are considered. Compared with the existing traditional asymptotically stable control laws, the desired cooperative control objectives of this paper can be realized in finite time, and the estimate of the settling times are explicitly provided. Another distinct feature of our work is that the communication interactions between neighboring agents are unidirectional, which is more practical in real applications. Finally, some simulation results are shown to validate the feasibility of the theoretical schemes.

KW - Containment control

KW - Directed graph

KW - Distributed finite-time control

KW - Euler-Lagrange system

KW - Synchronization control

UR - https://www.scopus.com/pages/publications/85105035237

U2 - 10.1016/j.ifacol.2020.12.191

DO - 10.1016/j.ifacol.2020.12.191

M3 - Conference article

AN - SCOPUS:85105035237

SN - 2405-8963

VL - 53

SP - 2453

EP - 2458

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 2

T2 - 21st IFAC World Congress 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

Distributed finite-time coordination control for networked euler-Lagrange systems under directed graphs

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Keywords

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