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Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm.
- Source :
- Circuits, Systems & Signal Processing; May2024, Vol. 43 Issue 5, p2782-2804, 23p
- Publication Year :
- 2024
-
Abstract
- This paper investigates the finite-time and fixed-time bipartite consensus problem of multiple Euler–Lagrange systems (MELSs) under directed interaction topologies, considering external disturbances. Two novel distributed hierarchical control algorithms are developed to address the challenging problems. Specifically, a new distributed estimator is designed to estimate the states of agents in finite/fixed-time. Moreover, based on the obtained estimations, the finite/fixed-time controller is presented to accomplish the bipartite consensus of the MELSs in the local control layer. By utilizing Lyapunov stability and the nearest neighbor-interactions theory, sufficient conditions for achieving the designed performance of the MELSs are derived. Simulation examples are provided to illustrate the effectiveness of the proposed algorithms. [ABSTRACT FROM AUTHOR]
- Subjects :
- EULER-Lagrange system
BIPARTITE graphs
LYAPUNOV stability
ALGORITHMS
Subjects
Details
- Language :
- English
- ISSN :
- 0278081X
- Volume :
- 43
- Issue :
- 5
- Database :
- Complementary Index
- Journal :
- Circuits, Systems & Signal Processing
- Publication Type :
- Academic Journal
- Accession number :
- 176340064
- Full Text :
- https://doi.org/10.1007/s00034-024-02608-2