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Circuits, Systems, and Signal Processing
Published in:

16-06-2024

Fast Finite-Time Output Bipartite Tracking of Networked Heterogeneous Robotic Systems with Matrix-Weighted Digraphs

Authors: Renjie Gu, Tao Han, Bo Xiao, Huaicheng Yan

Published in: Circuits, Systems, and Signal Processing | Issue 10/2024

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Abstract

The fast finite-time output bipartite tracking of networked heterogeneous robotic systems with matrix-weighted digraphs, parametric uncertainties and external disturbances is studied in this article. Besides, solving the fast finite-time bipartite tracking problem in this paper implies that the system states are forced to reach the employed nonsingular finite-time sliding surface in a predefined time, which thus called fast finite-time control. To address the aforementioned issues, a fast finite time hierarchical control algorithm utilizing estimator methodologies are proposed. The Lyapunov stability theory is used to derive some sufficient requirements for performing output bipartite tracking in a fast finite time manner. To verify that the theoretical results are valid, numerical simulation examples are given.
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Metadata
Title
Fast Finite-Time Output Bipartite Tracking of Networked Heterogeneous Robotic Systems with Matrix-Weighted Digraphs
Authors
Renjie Gu
Tao Han
Bo Xiao
Huaicheng Yan
Publication date
16-06-2024
Publisher
Springer US
Published in
Circuits, Systems, and Signal Processing / Issue 10/2024
Print ISSN: 0278-081X
Electronic ISSN: 1531-5878
DOI
https://doi.org/10.1007/s00034-024-02719-w

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