Distributed finite-time tracking for multiple uncertain mechanical systems with dead-zone input and external disturbances. (November 2019)

• Record Type: Journal Article
• Authors: Jia, Jihong; Xie, Xia; Zhang, Zhikai; Duan, Guangren
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 41:Number 15(2019)
• Page Start: 4450
• Page End: 4461
• Publication Date: 2019-11
• Subjects: Distributed finite-time tracking -- mechanical systems -- dead-zone input -- backstepping -- adding a power integrator; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331219860278
• Languages: English
• ISSNs: 0142-3312

Abstract

This paper addresses the distributed finite-time tracking problem for multiple uncertain mechanical systems with dead-zone input and external disturbances. An observer-based adaptive finite-time consensus protocol is designed, which consists of two steps. Firstly, distributed observers are developed such that all the mechanical systems can obtain the leader's state in finite settling time. Then, based on backstepping method and adding a power integrator technique, the finite-time consensus protocol and appropriate adaptive laws are designed to track the estimated leader's state. Rigorous proofs show that the tracking errors between each mechanical system and the leader can converge to a small neighborhood of origin in finite time despite the presence of dead-zone nonlinearity and external disturbances. Finally, simulation example is provided to demonstrate the effectiveness of the proposed scheme.