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Nonsingular fixed‐time fault‐tolerant control for multiple Euler–Lagrange systems without continuous communication.

Authors :
Hua, Menghu
Yao, Xiang‐Yu
Liu, Wen‐Jin
Ding, Hua‐Feng
Source :
International Journal of Robust & Nonlinear Control; 3/10/2024, Vol. 34 Issue 4, p2532-2552, 21p
Publication Year :
2024

Abstract

This article is concerned with the fixed‐time fault‐tolerant control problem of multiple Euler–Lagrange systems (MELSs) with intermittent communication, actuator faults and input disturbances. A nonsingular fixed‐time control framework with three parts is built for the above problem. In the first part, a novel adaptive controller is proposed for MELSs to ensure the fixed‐time stability of sliding modes while successfully solving the actuator faults, parameter uncertainties and unknown disturbances. In the second part, the fixed‐time estimators based on event‐triggered communication are designed by an error decomposition approach. In the third part, an auxiliary system is introduced for the singularity problem and sufficient condition for achieving the consensus is rigorously proved by synthesizing the results of the above two parts. The key feature of the proposed control framework is that the convergence time is constrained by a constant without involving initial states, and the singularity problems of fixed‐time control is avoided. Finally, simulation examples are provided to prove the efficacy of the proposed algorithms. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
10498923
Volume :
34
Issue :
4
Database :
Complementary Index
Journal :
International Journal of Robust & Nonlinear Control
Publication Type :
Academic Journal
Accession number :
175230202
Full Text :
https://doi.org/10.1002/rnc.7095