摘要
This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external distur-bances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising dur-ing measurements, thereby enhancing the robustness and stabi-lity of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference sig-nals utilizing local information and communication with neigh-bors. Subsequently, a fixed-time sliding mode controller is intro-duced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve dis-tributed average tracking of reference signals, and rigorous ana-lytical methods are employed to substantiate the fixed-time sta-bility. Finally, numerical simulation results are provided to vali-date the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.
基金
supported by the National Natural Science Foundation of China(61673130).
作者简介
SUN Guhao was born in 1992. He received his B.S. degree in automation and M.E. degree in control engineering in 2015 and 2017, respec-tively. He is currently pursuing his Ph.D. degree in Harbin Institute of Technology. His research interests include sliding mode control and its applications in multi-agent systems. E-mail: hitsungh@126.com;Corresponding author:ZENG Qingshuang was born in 1963. He received his B.S., M.S., and Ph.D. degrees in con-trol science and engineering from Harbin Insti-tute of Technology, in 1987, 1990, and 1997, respectively, where he is currently a professor with the Space Control and Inertial Technology Center, School of Astronautics. His research interests include switched hybrid systems, robust control theory, fuzzy control systems, and inertial technology. E-mail: zqshuang@hit.edu.cn;CAI Zhongze was born in 1993. He received his B.S. degree in guidance and control with detec-tion in 2015. He is currently pursuing his Ph.D. degree in Harbin Institute of Technology. His research interests include sliding mode control and its applications in servo motor systems. E-mail: hitczz@163.com。
