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Finite-Time - Leader–Follower Consensus of Networked Euler–Lagrange Systems With External Disturbances | IEEE Journals & Magazine | IEEE Xplore

Finite-Time \mathcal{L}_{2} Leader–Follower Consensus of Networked Euler–Lagrange Systems With External Disturbances


Abstract:

This paper is concerned with finite-time L2 leader-follower consensus of networked Euler-Lagrange systems in the presence of external disturbances. A distributed finite-t...Show More

Abstract:

This paper is concerned with finite-time L2 leader-follower consensus of networked Euler-Lagrange systems in the presence of external disturbances. A distributed finite-time L2 control protocol is proposed by using backstepping design such that a group of follower agents modeled by Euler-Lagrange systems can follow a desired leader agent and achieve leader-follower consensus in finite time. Moreover, the finite-time L2 gain is less than or equal to a prescribed value. A simulation example of a network composed of seven two-link manipulators is given to show the effectiveness of the theoretical results.
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems ( Volume: 48, Issue: 11, November 2018)
Page(s): 1920 - 1928
Date of Publication: 15 December 2017

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