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
Hauptverfasser: Ding, Teng‐Fei, Zhang, Qiu‐Yue, Ge, Ming‐Feng, Liu, Jie, Park, Ju H.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Bognor Regis Wiley Subscription Services, Inc 01.10.2024
Schlagworte:
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
ISSN:1049-8923, 1099-1239
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Zusammenfassung: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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ISSN:1049-8923
1099-1239
DOI:10.1002/rnc.7509