Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm

Wang, Shuang; Han, Tao; Xiao, Bo; Zhan, Xi-Sheng; Yan, Huaicheng

doi:10.1007/s00034-024-02608-2

Circuits Syst Signal Process

2024

DOI: 10.1007/s00034-024-02608-2

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Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm

Shuang Wang,

Tao Han,

Bo Xiao

et al.

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Hierarchical fixed-time leader-following consensus of multiple Euler-Lagrange systems under a directed graph

Xi,

Han,

Xiao

et al. 2024

Transactions of the Institute of Measurement and Control

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This article delves into the inquiry of attaining fixed-time consensus among multiple Euler-Lagrange systems (MELSs) operating within a directed communication graph. To address this issue particularly focusing on fixed-time control with a dynamic leader, a hierarchical fixed-time control algorithm is proposed. The hierarchical algorithm comprises a distributed estimation layer and a local control layer. The introduction of this algorithm holds significant implications in advanced control strategies, furnishing an efficacious remedy to attain consensus within a fixed time span. Moreover, the theoretical proof of achieving consensus within a fixed time for MELSs under hierarchical control is established. Through the utilization of Lyapunov stability theory, we have meticulously substantiated the correctness of this algorithm. Finally, the effectiveness of the theoretical results was validated through simulation experiments.

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Hierarchical fixed-time leader-following consensus of multiple Euler-Lagrange systems under a directed graph

Xi,

Han,

Xiao

et al. 2024

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

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Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm

Cited by 1 publication

References 35 publications

Hierarchical fixed-time leader-following consensus of multiple Euler-Lagrange systems under a directed graph

Hierarchical fixed-time leader-following consensus of multiple Euler-Lagrange systems under a directed graph

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