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Experimental Investigation of the Hierarchical Control in DC Microgrids Using a Real-time Simulator
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Distributed Fixed-Time Coordination Control for Networked Multiple Euler-Lagrange Systems.

Tao Xu, Zhisheng Duan, Zhiyong Sun

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    This study presents fixed-time distributed control for Euler-Lagrange systems, achieving coordination in containment and synchronization tasks. Control is independent of initial states, with guaranteed, predictable settling times for all agents.

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    Area of Science:

    • Robotics and Control Systems
    • Distributed Systems Engineering
    • Nonlinear Control Theory

    Background:

    • Euler-Lagrange systems are fundamental in robotics and mechanics.
    • Distributed coordination control is crucial for multi-agent systems.
    • Achieving control within a fixed time, independent of initial conditions, remains a challenge.

    Purpose of the Study:

    • To investigate fixed-time distributed coordination control for multiple Euler-Lagrange systems.
    • To address containment control with stationary and dynamic leaders.
    • To develop leaderless synchronization control strategies.

    Main Methods:

    • Application of fixed-time stability theory.
    • Design of three distinct fixed-time distributed control schemes.
    • Development of a novel distributed estimator for dynamic leader scenarios.

    Main Results:

    • Fixed-time convergence for containment and synchronization objectives achieved.
    • Settling times are independent of initial states and explicitly derived.
    • Demonstrated feasibility through numerical simulations.

    Conclusions:

    • The proposed control schemes ensure fixed-time coordination for Euler-Lagrange systems.
    • The methods are applicable to various leader-following and leaderless scenarios.
    • The results offer a robust approach to distributed control with predictable performance.