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

作　　者：陶梦 刘小洋 曹进德 邵劭 TAO Meng;LIU Xiao-yang;CAO Jin-de;SHAO Shao(School of Computer Science and Technology,Jiangsu Normal University,Xuzhou Jiangsu 221116,China;Key Laboratory of System Control and Information Processing,Ministry of Education,Shanghai 200240,China;School of Mathematics,Southeast University,Nanjing Jiangsu 210096,China;School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao Hebei 066004,China)

机构地区：[1]江苏师范大学计算机科学与技术学院,江苏徐州221116 [2]系统控制与信息处理教育部重点实验室,上海200240 [3]东南大学数学学院,江苏南京210096 [4]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004

出　　处：《控制理论与应用》2023年第11期1949-1956,共8页Control Theory & Applications

基　　金：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)资助。

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.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.

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 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]