文献类型：期刊文献

英文题名：Distributed finite-time formation control of multiple Euler-Lagrange systems under directed graphs

作者：Li, Yue[1];Yang, Ruohan[2];Wang, Meng[3];Zhu, Xueping[1]

机构：[1]Northwestern Polytech Univ, Sch Astronaut, Room 402,Bldg 3,127 West Youyi Rd, Xian 710072, Peoples R China;[2]Northwestern Polytech Univ, Sch Elect & Informat, Xian, Peoples R China;[3]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai, Peoples R China

年份：2022

卷号：16

期号：13

起止页码：1299

外文期刊名：IET CONTROL THEORY AND APPLICATIONS

收录：;EI(收录号：20222112136151);WOS:【SCI-EXPANDED(收录号:WOS:000799492600001)】；

基金：National Natural Science Foundation of China, Grant/Award Numbers: 61803311, 62003139; Central University Basic Research Fund of China, Grant/Award Numbers: D5000210690, D5000210953; Natural Science Foundation of Shaanxi Province, Grant/Award Numbers: 2020JQ-211, 2022JQ-580; Natural Science Foundation of Shanghai, Grant/Award Number: 20ZR1415200

语种：英文

外文关键词：Distributed parameter control systems - Uncertainty analysis - Controllers - Lagrange multipliers

摘要：This paper investigates the finite-time formation problem of multiple Euler-Lagrange systems subject to model uncertainties and external disturbances under directed graphs. An adaptive distributed control approach is developed by integrating dynamic gain control and adaptive control based on the consensus theory and the finite-time stability theory. Auxiliary scalar dynamics are constructed to facilitate dynamic gain design. It is shown that finite-time formation can be achieved via the proposed non-smooth controller characterized by fractional powers of the auxiliary dynamics, which is significantly different from most existing works on finite-time controllers where fractional powers of system states are adopted. Moreover, continuity of the proposed controller is guaranteed by adjusting one control parameter, of which range is proven explicitly. In addition, dynamic surface control is improved to remove acceleration information from finite-time controller design. In the end, the effectiveness of the proposed control approach is verified by numerical simulation.