论文标题
网络不确定的Euler-Lagrange系统的固定时间同步
Fixed-time Synchronization of Networked Uncertain Euler-Lagrange Systems
论文作者
论文摘要
本文考虑了由一类Euler-Lagrange Dynamics组成的多代理系统的固定时间控制问题，具有参数性不确定性，并在有向通信网络下的动态领导者组成。首先提出了一个分布式固定时间观察者来估计所需的轨迹，然后通过将不确定的Euler-Lagrange系统转换为二阶系统并利用后台替代设计过程来构建固定时控制器。总体设计确保同步错误在规定的时间内与初始条件无关。控制设计条件也可以放松，以较弱的有限时间控制要求。
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time observer is first proposed to estimate the desired trajectory and then a fixed-time controller is constructed by transforming uncertain Euler-Lagrange systems into second-order systems and utilizing the backstepping design procedure. The overall design guarantees that the synchronization errors converge to zero in a prescribed time independent of initial conditions. The control design conditions can also be relaxed for a weaker finite-time control requirement.
