Observer‐based fixed‐time task‐space cooperative tracking control of networked Lagrangian agents with quantized communication
In this article, the task‐space cooperative tracking control (TSCTC) problem of networked Lagrangian agents (NLAs) with quantized communication is investigated in fixed time, where every Lagrangian agent suffers from imprecise dynamics and external disturbances. A hierarchical observer‐based fixed‐t...
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| Veröffentlicht in: | International journal of robust and nonlinear control Jg. 34; H. 15; S. 10215 - 10234 |
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| Sprache: | Englisch |
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Bognor Regis
Wiley Subscription Services, Inc
01.10.2024
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| ISSN: | 1049-8923, 1099-1239 |
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| Abstract | In this article, the task‐space cooperative tracking control (TSCTC) problem of networked Lagrangian agents (NLAs) with quantized communication is investigated in fixed time, where every Lagrangian agent suffers from imprecise dynamics and external disturbances. A hierarchical observer‐based fixed‐time control (HOBFTC) algorithm is proposed, where there are four parts: a prescribed‐time input observer is proposed to recover the unknown input of the leader, a distributed estimator control is designed to force the estimated values to converge the states (position and velocity) of the leader, a fixed‐time disturbance observer is presented to recover the total disturbances of NLAs, and a nonsingular fixed‐time local control is given to guarantee that the task‐space cooperative tracking can be achieved. The salient features are twofold: (1) by employing the hierarchical control strategy, the proposed control algorithm is clearly structured to solve the complex cooperative tracking problem with multiple constraints including quantized communication, imprecise dynamics and external disturbances. (2) the convergence time of the proposed control algorithm can be set freely by selecting some parameters, which are independent of the initial conditions. Some sufficient conditions are obtained and some simulation examples are given to validate the effectiveness of the proposed algorithm. |
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| AbstractList | In this article, the task‐space cooperative tracking control (TSCTC) problem of networked Lagrangian agents (NLAs) with quantized communication is investigated in fixed time, where every Lagrangian agent suffers from imprecise dynamics and external disturbances. A hierarchical observer‐based fixed‐time control (HOBFTC) algorithm is proposed, where there are four parts: a prescribed‐time input observer is proposed to recover the unknown input of the leader, a distributed estimator control is designed to force the estimated values to converge the states (position and velocity) of the leader, a fixed‐time disturbance observer is presented to recover the total disturbances of NLAs, and a nonsingular fixed‐time local control is given to guarantee that the task‐space cooperative tracking can be achieved. The salient features are twofold: (1) by employing the hierarchical control strategy, the proposed control algorithm is clearly structured to solve the complex cooperative tracking problem with multiple constraints including quantized communication, imprecise dynamics and external disturbances. (2) the convergence time of the proposed control algorithm can be set freely by selecting some parameters, which are independent of the initial conditions. Some sufficient conditions are obtained and some simulation examples are given to validate the effectiveness of the proposed algorithm. |
| Author | Liu, Jie Ding, Teng‐Fei Park, Ju H. Zhang, Qiu‐Yue Ge, Ming‐Feng |
| Author_xml | – sequence: 1 givenname: Teng‐Fei orcidid: 0000-0002-9698-351X surname: Ding fullname: Ding, Teng‐Fei organization: China University of Geosciences – sequence: 2 givenname: Qiu‐Yue orcidid: 0009-0004-3577-4564 surname: Zhang fullname: Zhang, Qiu‐Yue organization: China University of Geosciences – sequence: 3 givenname: Ming‐Feng orcidid: 0000-0002-6828-0147 surname: Ge fullname: Ge, Ming‐Feng email: gemf@cug.edu.cn organization: China University of Geosciences – sequence: 4 givenname: Jie orcidid: 0000-0002-0750-1030 surname: Liu fullname: Liu, Jie organization: Huazhong University of Science and Technology – sequence: 5 givenname: Ju H. orcidid: 0000-0002-0218-2333 surname: Park fullname: Park, Ju H. organization: Yeungnam University |
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| SubjectTerms | Algorithms Communication Control algorithms Control theory Cooperative control Disturbance observers fixed‐time stable Force distribution Initial conditions networked Lagrangian agents (NLAs) observer‐based control algorithm task‐space cooperative tracking control (TSCTC) Tracking control Tracking problem |
| Title | Observer‐based fixed‐time task‐space cooperative tracking control of networked Lagrangian agents with quantized communication |
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| Volume | 34 |
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