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- Title
Task-space time-varying formation tracking for networked heterogeneous Euler–Lagrange systems via hierarchical predefined-time control approach.
- Authors
Zhao, Xiao-Feng; Han, Tao; Xiao, Bo; Yan, Huaicheng; Ge, Ming-Feng; Liang, Chang-Duo
- Abstract
This paper studies the task-space predefined-time time-varying formation tracking (TVFT) problem in networked heterogeneous Euler–Lagrange systems (NHELSs) subject to parametric uncertainties and external disturbances. A novel hierarchical predefined-time control algorithm based on the use of non-singular terminal sliding mode control method is proposed, which can achieve the TVFT with digraphs in a predefined time. In this way, the settling time can be predetermined arbitrarily in advance as a control parameter. By virtue of the Lyapunov stability and the nearest neighbor-interactions rules, some sufficient criteria for realizing the task-space predefined-time TVFT of the NHELSs are obtained. Eventually, numerical simulation results are provided to demonstrate the effectiveness of the provided results.
- Subjects
EULER-Lagrange system; SLIDING mode control; LYAPUNOV stability
- Publication
Nonlinear Dynamics, 2022, Vol 109, Issue 4, p2675
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-022-07567-4