文献类型：期刊文献

英文题名：Distributed adaptive finite-time fault-tolerant formation-containment control for networked Euler-Lagrange systems under directed communication interactions

作者：Li, Yue[1];Xu, Ting[2];Yang, Ruohan[3];Wang, Meng[4]

机构：[1]Northwestern Polytech Univ, Sch Astronaut, Xian 710072, Peoples R China;[2]Sun Yat Sen Univ, Sch Biomed Engn, Shenzhen 518107, Peoples R China;[3]Northwestern Polytech Univ, Sch Elect & Informat, Xian 710072, Peoples R China;[4]East China Univ Sci & Technol, Key Lab Smart Mfg Energy Chem Proc, Minist Educ, Shanghai 200237, Peoples R China

年份：2023

卷号：560

外文期刊名：NEUROCOMPUTING

收录：;EI(收录号：20234114856119);WOS:【SCI-EXPANDED(收录号:WOS:001088844000001)】；

语种：英文

外文关键词：Directed topology; Fault-tolerant control; Finite-time control; Formation-containment control

摘要：This paper addresses the finite-time formation-containment control problem for multiple Euler-Lagrange systems with actuator faults and input saturations subject to external disturbances and nonlinear uncertainties under directed communication interactions. Systematic procedures on how to synthesize a distributed control scheme are developed based on adaptive backstepping control, fault-tolerant control, dynamic gain control and finite-time control such that leaders form a desired geometric configuration while tracking the virtual leader, and followers converge to the convex hull spanned by the leaders during a finite-time period with sufficient accuracy. Two auxiliary systems are constructed to facilitate the control scheme design. Finite-time convergence and ease of computation burden in the sense of not using fractional powers of cooperative error information are realized by integrating dynamic gain control, finite-time control and one auxiliary system. Actuator faults, control input saturations, external disturbances and nonlinear uncertainties are coupled together and dealt with by adaptive backstepping control, fault-tolerant control and the other auxiliary system. In the end, the effectiveness of the proposed control scheme is verified with simulation results.