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Neural adaptive predefined-time formation tracking control of multiple Euler–Lagrange systems with switching topologies based on hierarchical mechanism

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  • Zhao, Xiao-Wen
  • Deng, Dong-Dong
  • Ge, Ming-Feng
  • Liu, Zhi-Wei

Abstract

This paper investigates the event-triggered neural adaptive predefined-time time-varying formation tracking control (PTTVFTC) problem for multiple Euler–Lagrange systems (ELSs) with actuator failures and saturation under switching communication topologies. The hierarchical control mechanism (HCM) is employed to overcome the difficulties posed by switching communication topologies to design the control algorithms. Specifically, a new estimator is first developed in the estimator layer for each follower, which can estimate the leader’s position information within a predefined time. Then, based on the designed estimator, a fault-tolerant and anti-saturation controller is proposed in the local control layer for each follower, which enables each follower to achieve PTTVFTC. To reduce the communication frequency, an event-triggered mechanism (ETM) that does not have Zeno behavior determines the controller’s update. In addition, the settling time for formation tracking can be arbitrarily specified as desired. Finally, the effectiveness of the developed control strategy is verified by a simulation experiment.

Suggested Citation

  • Zhao, Xiao-Wen & Deng, Dong-Dong & Ge, Ming-Feng & Liu, Zhi-Wei, 2024. "Neural adaptive predefined-time formation tracking control of multiple Euler–Lagrange systems with switching topologies based on hierarchical mechanism," Chaos, Solitons & Fractals, Elsevier, vol. 178(C).
    • Handle: RePEc:eee:chsofr:v:178:y:2024:i:c:s0960077923012778
    DOI: 10.1016/j.chaos.2023.114375
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    References listed on IDEAS

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    1. Xu, Jiwei & Deng, Zhenghong & Ren, Xiaobin & Xu, Lin & Liu, Dan, 2020. "Invulnerability optimization of UAV formation based on super wires adding strategy," Chaos, Solitons & Fractals, Elsevier, vol. 140(C).
    2. Shen, Qikun & Yi, Yang & Zhang, Tianping, 2023. "Fuzzy adaptive distributed synchronization control of uncertain multi-agents systems with unknown input power and sector nonlinearities," Chaos, Solitons & Fractals, Elsevier, vol. 174(C).
    3. Lin, Funing & Xue, Guangming & Qin, Bin & Li, Shenggang & Liu, Heng, 2023. "Event-triggered finite-time fuzzy control approach for fractional-order nonlinear chaotic systems with input delay," Chaos, Solitons & Fractals, Elsevier, vol. 175(P2).
    4. Ma, Yajing & Li, Zhanjie & Xie, Xiangpeng & Yue, Dong, 2023. "Adaptive consensus of uncertain switched nonlinear multi-agent systems under sensor deception attacks," Chaos, Solitons & Fractals, Elsevier, vol. 175(P1).
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