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Event-Based Fixed-Time Consensus Tracking for Constrained Networked Euler-Lagrange Systems
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DOI：10.1109/JSYST.2024.3356518.png)
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Abstract
En 中文
This article delves into the challenge of fixed-time consensus tracking (FtCT) for networked Euler-Lagrange systems with customized time constraints (CTCs), especially in the presence of restricted communication and computational capabilities. In the face of intermittent and unidirectional communication scenarios, an event-based distributed fixed-time observer is designed, specifically ensuring the exclusion of Zeno phenomena in the analysis. Following this, to economize on the frequency of control input updates, an adaptive event-triggered local control approach rooted in backstepping techniques is put forward, which guarantees practical fixed-time convergence of error signals while precluding Zeno behavior. A key innovation lies in the formulation of a constrained function featuring a shift function, thereby affording a unified framework capable of flexibly addressing CTC without altering the control structure. Simulations are ultimately executed to corroborate the proposed approaches.
Keywords:
Adaptive event-triggered local control (AEtLC)
customized time constraints (CTCs)
distributed fixed-time observer (DFtO)
event-triggered communication
networked Euler-Lagrange (NEL) systems
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387