Consensus Control for Multiple Euler-Lagrange Systems Based on High-Order Disturbance Observer:An Event-Triggered Approach  

作　　者：Xinchen Guo Guoliang Wei Meng Yao Pengju Zhang 

机构地区：[1]Department of Control Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China [2]Business School,University of Shanghai for Science and Technology,Shanghai 200093,China [3]College of Science,University of Shanghai for Science and Technology,Shanghai 200093,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第5期945-948,共4页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(61873169).

摘　　要：Dear editor,This letter addresses the leader-following consensus problem(LFCP)for multiple Euler-Lagrange(EL)systems with a directed topology.Firstly,a local high-order disturbance observer(HODO)is put forward to estimate the compound disturbance for each EL system itself,and the estimate error can ultimately achieve zero.Based on this HODO,an event-based distributed sliding mode control protocol is proposed to solve the LFCP of multiple EL systems.Furthermore,the reachability of the sliding mode surface is analyzed.Besides,it should be pointed out that the interval between any two triggering instants is a strictly positive value,hence the well-known Zeno behavior is avoided for the developed event-based protocol.Finally,the effectiveness of the proposed HODO and control protocol is further verified by a numerical simulation.

关 键 词：DISTURBANCE hence EDITOR 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]