Distributed robust tracking control for multiple Euler–Lagrange systems with full‐state constraints and input saturation using an event‐triggered scheme

Abstract

In this article, distributed tracking control is studied for multiple Euler-Lagrange systems in the presence of external disturbances and input saturation. Specifically, full-state constraints, input saturation, communication delays, and unmeasured velocities are all considered simultaneously. First, a novel event-triggered scheme is developed to save the communication source and reduce computational load. Second, the anti-saturation compensation algorithm is exploited to compensate for system saturation.Third, an adaptive law is designed to offset external disturbances. Moreover, a high-gain observer is employed to estimate unmeasured velocities.Theorem analysis shows the stability of the closed-loop system, and numerical simulations are provided to verify the effectiveness of the proposed control strategy.

Event‐triggered controller design from the control input perspective

“…In this case, we compare our control method with the one in Reference 23, and the parameters are set as r = 100, L f = 7, L u = 6, 𝜃 = 0.5, 𝛿 = 3, and 𝛼 = 0.5. The initial condition for x 1 , x 2 is set as [3,5].…”

“…Networked control is increasingly gaining attention in the past decades as it is able to improve control efficiency and reduce operation cost. [1][2][3][4] For networked control systems (NCSs), effective signal communication among different system nodes is indispensable to guarantee desired system performance. However, in many practical NCSs such as power grid, there exist numerous individual tasks that require communication channels to conduct simultaneous signal transmissions, leading to a competition for limited bandwidth of communication channels.…”

“…Networked control is increasingly gaining attention in the past decades as it is able to improve control efficiency and reduce operation cost 1‐4 . For networked control systems (NCSs), effective signal communication among different system nodes is indispensable to guarantee desired system performance.…”

Predefined‐time control for Euler–Lagrange systems with model uncertainties and actuator faults

“…Euler-Lagrange systems (ELSs) are widely applied as the universal model for that it can describe a large class physical systems, such as robot manipulators [1,2], quadrotor helicopters [3,4], and spacecraft attitude control system [5,6]. In recent decades, plenty of fruitful control schemes have been proposed; see in previous studies [7][8][9][10][11].…”

Adaptive extreme learning machine‐based event‐triggered control for perturbed Euler–Lagrange systems

“…Recently, the designs of trajectory tracking control under event-triggered framework have been explored by a quality of works for Euler-Lagrange systems. [33][34][35][36][37][38] In References 33-35, adaptive technique combined by neural network-based sliding mode control techniques was developed to construct event-triggered control strategies for dealing with trajectory tracking control problems of the uncertain Euler-Lagrange system. The designs in References 36-38 carried out distributed event-triggered control approaches for multiple Euler-Lagrange systems to suppress the impacts of state/input saturation, parametric uncertainties, lacking relative velocity measurements, respectively.…”