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Circuits, Systems, and Signal Processing
Published in:

24-02-2024

Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm

Authors: Shuang Wang, Tao Han, Bo Xiao, Xi-Sheng Zhan, Huaicheng Yan

Published in: Circuits, Systems, and Signal Processing | Issue 5/2024

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Abstract

This paper investigates the finite-time and fixed-time bipartite consensus problem of multiple Euler–Lagrange systems (MELSs) under directed interaction topologies, considering external disturbances. Two novel distributed hierarchical control algorithms are developed to address the challenging problems. Specifically, a new distributed estimator is designed to estimate the states of agents in finite/fixed-time. Moreover, based on the obtained estimations, the finite/fixed-time controller is presented to accomplish the bipartite consensus of the MELSs in the local control layer. By utilizing Lyapunov stability and the nearest neighbor-interactions theory, sufficient conditions for achieving the designed performance of the MELSs are derived. Simulation examples are provided to illustrate the effectiveness of the proposed algorithms.
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Metadata
Title
Finite-Time and Fixed-Time Bipartite Consensus of Multiple Euler–Lagrange Systems via Hierarchical Control Algorithm
Authors
Shuang Wang
Tao Han
Bo Xiao
Xi-Sheng Zhan
Huaicheng Yan
Publication date
24-02-2024
Publisher
Springer US
Published in
Circuits, Systems, and Signal Processing / Issue 5/2024
Print ISSN: 0278-081X
Electronic ISSN: 1531-5878
DOI
https://doi.org/10.1007/s00034-024-02608-2

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