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https://hdl.handle.net/2440/137809
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Type: | Journal article |
Title: | Fast finite-time tracking consensus with applications on multiple servo motors |
Author: | Zheng, S. Shi, P. Xie, Y. Wang, S. |
Citation: | IEEE Transactions on Industrial Electronics, 2023; 70(3):2993-3002 |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Issue Date: | 2023 |
ISSN: | 0278-0046 1557-9948 |
Statement of Responsibility: | Shiqi Zheng, Peng Shi, Yuanlong Xie, and Shuting Wang |
Abstract: | This article focuses on the fast finite-time tracking consensus for uncertain nonlinear multiagent systems. By gracefully combining the hierarchical decomposition, adding a barrier power integrator and disturbance compensation techniques, a new adaptive fast finite-time controller is proposed. Compared with the existing works, the proposed method has several distinguishing features: 1) It can achieve fast finite-time convergence with full state constraints; 2) it can deal with some fully unknown nonlinearities and state-dependent disturbance. Moreover, the nonlinearities can be related with the states of all the followers; 3) the input of the leader is not required to be zero, meaning a broad class of references signals can be generated; and 4) the controller is computationally simply and ready to be implemented. No fuzzy logic/neural networks are needed. Applications of the proposed method on multiple servo motors are also studied. |
Keywords: | Adaptive control; adding a power integrator; backstepping; finite-time control; state constraints |
Rights: | © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information. |
DOI: | 10.1109/TIE.2022.3174244 |
Published version: | http://dx.doi.org/10.1109/tie.2022.3174244 |
Appears in Collections: | Electrical and Electronic Engineering publications |
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