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Distributed Finite-time Error Constrained Tracking Control for Multiple Euler-Lagrange Systems

机译：多个Euler-Gagrange系统的分布式有限时间误差约束跟踪控制

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In this paper, distributed finite-time error constrained tracking control for multiple Euler-Lagrange systems is investigated under directed topology. It is considered that the information of the leader is available to only a subset of the followers. A tan-type barrier Lyapunov function (BLF) is utilized to demonstrate that the tracking errors would not exceed the assigned bound. Using backstepping design method, a novel distributed finite-time error constrained tracking protocol is proposed. It is proved that the tracking error of each follower is ultimately bounded in finite time by graph theory, Lyapunov theory, and finite-time stability theory. Numerical simulations demonstrate the effectiveness of the control law.
机译：本文在指示拓扑下研究了多个Euler-Lagrange系统的分布式有限时间误差约束控制。据认为，领导者的信息仅可用于追随者的子集。利用Tan型障碍Lyapunov函数（BLF）来证明跟踪误差不会超过指定的绑定。使用BackStepping设计方法，提出了一种新颖的分布式有限时间误差约束跟踪协议。事实证明，每个跟随器的跟踪误差最终通过图形理论，Lyapunov理论和有限时间稳定理论在有限时间内界定。数值模拟展示了对照法的有效性。

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