文献类型：期刊文献

英文题名：Finite-Time L2 Leader-Follower Consensus of Networked Euler-Lagrange Systems With External Disturbances

作者：He, Wangli[1];Xu, Chenrui[1];Han, Qing-Long[2];Qian, Feng[1];Lang, Ziqiang[3]

机构：[1]East China Univ Sci & Technol, Key Lab Adv Control & Optimizat Chem Proc, Minist Educ, Shanghai 200237, Peoples R China;[2]Swinburne Univ Technol, Sch Software & Elect Engn, Melbourne, Vic 3122, Australia;[3]Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S1 3JD, S Yorkshire, England

年份：2018

卷号：48

期号：11

起止页码：1920

外文期刊名：IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS

收录：;EI(收录号：20180104604609);WOS:【SCI-EXPANDED(收录号:WOS:000447824400008)】；

基金：This work was supported in part by the National Key Research and Development Program of China under Grant 2016YFB0303401, in part by the National Natural Science Foundation of China under Grant 61773163, in part by the Fundamental Research Funds for Central Universities under Grant 222201717006, in part the by Young Elite Scientists Sponsorship Program by CAST under Grant 2016QNRC001, in part by the Natural Science Foundation of Shanghai under Grant 17ZR1444600, and in part by the 111 Project under Grant B17017.

语种：英文

外文关键词：Euler-Lagrange system; external disturbance; finite-time leader-follower consensus; L-2 stability

摘要：This paper is concerned with finite-time L-2 leader-follower consensus of networked Euler-Lagrange systems in the presence of external disturbances. A distributed finite-time L-2 control protocol is proposed by using backstepping design such that a group of follower agents modeled by Euler-Lagrange systems can follow a desired leader agent and achieve leader-follower consensus in finite time. Moreover, the finite-time L-2 gain is less than or equal to a prescribed value. A simulation example of a network composed of seven two-link manipulators is given to show the effectiveness of the theoretical results.