Distributed robust tracking control for multiple Euler–Lagrange systems with full‐state constraints and input saturation using an event‐triggered scheme. (6th November 2021)

• Record Type: Journal Article
• Authors: Liu, Haitao; Du, Guangshuo; Tian, Xuehong; Zou, Lanping
• Is Part Of: International journal of robust and nonlinear control. Volume 32:Number 2(2022)
• Page Start: 807
• Page End: 829
• Publication Date: 2021-11-06
• Subjects: distributed control -- event‐triggered scheme -- input saturation -- multiple Euler–Lagrange system; Automatic control -- Periodicals; Control theory -- Periodicals; Nonlinear systems -- Periodicals; 629.836
• DOI: 10.1002/rnc.5856
• Languages: English
• ISSNs: 1049-8923

Abstract

Abstract: In this article, distributed tracking control is studied for multiple Euler–Lagrange systems in the presence of external disturbances and input saturation. Specifically, full‐state constraints, input saturation, communication delays, and unmeasured velocities are all considered simultaneously. First, a novel event‐triggered scheme is developed to save the communication source and reduce computational load. Second, the anti‐saturation compensation algorithm is exploited to compensate for system saturation. Third, an adaptive law is designed to offset external disturbances. Moreover, a high‐gain observer is employed to estimate unmeasured velocities. Theorem analysis shows the stability of the closed‐loop system, and numerical simulations are provided to verify the effectiveness of the proposed control strategy.