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Hierarchical prescribed-time bipartite consensus for multiple Euler-Lagrange systems with input-to-output redundancy
1School of Electrical Engineering and Automation, Hubei Normal University, Huangshi, 435002, China.
ISA Transactions
|October 7, 2023
Summary
This study addresses the prescribed-time bipartite consensus for multiple Euler-Lagrange systems (MELSs). A novel hierarchical control algorithm ensures systems reach consensus within a user-defined timeframe, even with disturbances.
Area of Science:
- Control Theory
- Robotics
- Systems Engineering
Background:
- The consensus problem in multi-agent systems is crucial for coordinated behavior.
- Euler-Lagrange systems are fundamental in modeling mechanical systems.
- Achieving consensus within a specific timeframe presents significant control challenges.
Purpose of the Study:
- To investigate the prescribed-time bipartite consensus problem for multiple Euler-Lagrange systems (MELSs).
- To develop a control strategy that allows for arbitrary convergence time prescription.
- To account for system uncertainties, external disturbances, and input-to-output redundancy.
Main Methods:
- Proposal of a novel prescribed-time hierarchical control (PTHC) algorithm.
- Utilizing Lyapunov stability analysis to derive sufficient conditions for consensus.
- Employing directed matrix-weighted signed graphs to model system interactions.
Main Results:
- The proposed PTHC algorithm enables prescribed-time bipartite consensus for MELSs.
- Sufficient conditions for achieving this consensus within a specified time are established.
- Numerical simulations validate the effectiveness and feasibility of the developed control strategy.
Conclusions:
- The PTHC algorithm offers precise control over convergence time for MELSs.
- The method is robust to external disturbances and uncertain dynamic terms.
- This work provides a valuable framework for real-world engineering applications requiring timely coordination.
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