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- Title
Distributed robust fault‐tolerant control of networked Euler–Lagrange systems with time delays.
- Authors
Dong, Jie; Tan, Jingjing; Jing, Guoxu; Li, Yuling; Wang, Haijuan
- Abstract
This article addresses the distributed robust fault‐tolerant control design problem for networked Euler–Lagrange (EL) systems with time‐varying delays under directed communication topologies. The leaderless and leader‐follower consensus is established. In order to eliminate the influence of actuator faults and external disturbances on the system performance, some designer‐specified performance constraints are imposed on the sliding variables rather than the tracking errors. Based on the variable transformation, two kinds of fault‐tolerant control schemes are proposed under the prescribed constraints. The stability of the closed‐loop systems with time delays is analyzed, and it is shown that the sliding variables eventually converge within an arbitrarily small boundary range. Simulation studies are presented to exhibit the effectiveness of the proposed control schemes.
- Subjects
FAULT-tolerant control systems; TIME delay systems; ROBUST control; EULER-Lagrange system; FAULT-tolerant computing; CLOSED loop systems
- Publication
International Journal of Robust & Nonlinear Control, 2024, Vol 34, Issue 5, p3091
- ISSN
1049-8923
- Publication type
Article
- DOI
10.1002/rnc.7125