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Adaptive Appointed-Time Consensus Control of Networked Euler-Lagrange Systems With Connectivity Preservation.

Caisheng Wei, Mingzhen Gui, Chengxi Zhang

    IEEE Transactions on Cybernetics
    |May 24, 2021
    PubMed
    Summary

    This study introduces an appointed-time consensus control for uncertain networked mechanical systems, ensuring communication connectivity and precise synchronization. The novel approach simplifies controller design while guaranteeing performance within pre-set bounds.

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    Area of Science:

    • Robotics and Control Systems
    • Networked Mechanical Systems
    • Applied Mathematics

    Background:

    • Networked mechanical systems require robust control for synchronization and communication.
    • Existing consensus control methods face challenges with system uncertainties and communication constraints.
    • Preserving communication connectivity while achieving consensus is crucial for system performance.

    Purpose of the Study:

    • To develop a novel appointed-time consensus control approach for uncertain networked Euler-Lagrange systems.
    • To ensure both communication connectivity and guaranteed consensus performance.
    • To improve position consensus accuracy and velocity consensus.

    Main Methods:

    • Formulating a two-layer prescribed performance envelope using an appointed-time convergent function.
    • Designing a state-feedback virtual controller with online adaptive performance adjustment.
    • Developing an appointed-time adaptive controller incorporating norm inequality for uncertainties.

    Main Results:

    • The proposed approach approximates communication range constraints using a time-varying contractive performance envelope.
    • Appointed-time convergence and steady-state accuracy are pre-assigned.
    • Controller design complexity is significantly reduced without repeated logarithmic error transformations.

    Conclusions:

    • The appointed-time consensus control approach effectively addresses synchronization in uncertain networked mechanical systems.
    • The method ensures communication connectivity and enhances consensus accuracy.
    • The simplified controller design offers practical advantages for real-world applications.