Finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities

Wengang Ao; Jiangshuai Huang; Qian Cui; Rene Vinicio Sanchez

doi:10.1016/j.jfranklin.2019.08.034

Finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities

Wengang Ao, Jiangshuai Huang, Qian Cui, Rene Vinicio Sanchez

Research and Development Group in Industrial Technologies (GIDTEC)

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

In this paper, we consider the finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities. A finite time distributed continuous control scheme is proposed for the multi-agent systems. It is shown that the output of the Euler-Lagrangian systems reach consensus within finite time. Transient performances in terms of convergence rate is also analyzed. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.

Original language	English
Pages (from-to)	9286-9301
Number of pages	16
Journal	Journal of the Franklin Institute
Volume	356
Issue number	16
DOIs	https://doi.org/10.1016/j.jfranklin.2019.08.034
State	Published - 1 Nov 2019

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abstract = "In this paper, we consider the finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities. A finite time distributed continuous control scheme is proposed for the multi-agent systems. It is shown that the output of the Euler-Lagrangian systems reach consensus within finite time. Transient performances in terms of convergence rate is also analyzed. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.",

author = "Wengang Ao and Jiangshuai Huang and Qian Cui and Sanchez, {Rene Vinicio}",

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AU - Sanchez, Rene Vinicio

PY - 2019/11/1

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N2 - In this paper, we consider the finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities. A finite time distributed continuous control scheme is proposed for the multi-agent systems. It is shown that the output of the Euler-Lagrangian systems reach consensus within finite time. Transient performances in terms of convergence rate is also analyzed. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.

AB - In this paper, we consider the finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities. A finite time distributed continuous control scheme is proposed for the multi-agent systems. It is shown that the output of the Euler-Lagrangian systems reach consensus within finite time. Transient performances in terms of convergence rate is also analyzed. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.

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Finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities

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