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Robust finite-time consensus control for Euler–Lagrange multi-agent systems subject to switching topologies and uncertainties

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  • Fan, Yanyan
  • Jin, Zhenlin
  • Luo, Xiaoyuan
  • Guo, Baosu

Abstract

Euler–Lagrange (EL) system is a typical nonlinear system widely used to model robot systems. Although consensus of EL multi-agent systems has been extensively studied in recent years, how to achieve better consensus performance under constraints such as switching topologies and uncertainties is still an open issue. Aiming at fast convergence and effective disturbance rejection, this paper studies the integral sliding mode control problem for robust finite-time consensus of EL multi-agent systems subject to switching topologies and uncertainties. A basic integral sliding mode control (SMC) scheme is first presented for finite-time consensus of EL multi-agent systems subject to undirected topologies and uncertainties. It is shown that the proposed consensus protocol reaches good disturbance rejection and achieves robust finite-time consensus while avoiding the singularity problem in the existing studies. The proposed integral sliding mode control scheme is further extended to finite-time consensus of EL multi-agent systems subject to directed and switching topologies. Compared with the existing algorithms, faster finite-time convergence is achieved. In the simulation studies, the obtained results demonstrate the effectiveness and efficiency of the proposed algorithm.

Suggested Citation

  • Fan, Yanyan & Jin, Zhenlin & Luo, Xiaoyuan & Guo, Baosu, 2022. "Robust finite-time consensus control for Euler–Lagrange multi-agent systems subject to switching topologies and uncertainties," Applied Mathematics and Computation, Elsevier, vol. 432(C).
    • Handle: RePEc:eee:apmaco:v:432:y:2022:i:c:s0096300322004416
    DOI: 10.1016/j.amc.2022.127367
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    References listed on IDEAS

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    1. He, Xiaoyan & Wang, Qingyun, 2017. "Distributed finite-time leaderless consensus control for double-integrator multi-agent systems with external disturbances," Applied Mathematics and Computation, Elsevier, vol. 295(C), pages 65-76.
    2. Wang, Yanqian & Chen, Fu & Zhuang, Guangming & Yang, Guang, 2020. "Dynamic event-based mixed H∞ and dissipative asynchronous control for Markov jump singularly perturbed systems," Applied Mathematics and Computation, Elsevier, vol. 386(C).
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    Cited by:

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    4. Qing, Nengneng & Yang, Yongqing & Luan, Xiaoli & Wan, Haiying, 2024. "Practical time-boundary consensus for fractional-order multi-agent systems under well-known and estimable topology," Applied Mathematics and Computation, Elsevier, vol. 464(C).

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