1. Neural network-based robust consensus tracking for uncertain networked Euler-Lagrange systems with time-varying delays and output constraints.
- Author
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Peng, Runlong, Guo, Rongwei, Zheng, Bin, Miao, Zhonghua, and Zhou, Jin
- Subjects
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EULER-Lagrange system , *TIME-varying systems , *ROBUST control , *LYAPUNOV functions , *COMPUTER simulation , *HOPFIELD networks , *ADAPTIVE control systems - Abstract
This paper mainly focuses on the cooperative robust consensus tracking problem of uncertain networked Euler-Lagrange systems (NELSs) with time-varying delays and output constraints. By systematically integrating the neural network (NN) adaptive technique and the logarithmic type Barrier Lyapunov Function (BLF) in combination with the additional robust control law, two distributed robust consensus schemes for uncertain NELSs are proposed for two cases of time-varying communication and input delays respectively, which can fully guarantee to constrain the output consensus error within a safety region simultaneously. Furthermore, numerical simulation examples are provided to demonstrate the comparable potential advantages of the proposed robust control law over some existing algorithms, including adaptability, stability, and robustness, as well as delay effects. • An NN-based robust controller is designed to effectively handle the uncertainty of NELSs. • Combining NN with BLF ensures the adaptability, stability, and robustness of the consensus tracking scheme for NELSs. • A unified analytical framework is developed by deriving upper bounds on the allowed values of communication and input delays. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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