Prescribed-time bipartite consensus of multiple Euler-Lagrange systems via sliding-mode control
TAO Meng
LIU Xiao-yang
CAO Jin-de
SHAO Shao
Abstract：This paper investigates the prescribed-time bipartite sliding-mode consensus of multiple Euler-Lagrange systems with external disturbances.By designing a distributed controller,the multiple Euler-Lagrange systems with a dynamic leader are driven to achieve the sliding-mode surface within a preset time,and thus reach the bipartite consensus within another prescribed time.The terminal sliding-mode control protocol proposed in this paper can ensure that the systems achieve the desired control objective within a prescribed time on the basis of overcoming external disturbances.Finally,one numerical simulation is provided to illustrate the feasibility and effectiveness of the theoretical results.
Keywords：bipartite consensusmultiple Euler-Lagrange systemsexternal disturbancesprescribed timesliding-mode control
Publication Date：2023-11-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1949-1956 )