Distributed finite-time tracking of multiple Euler-Lagrange dynamics without velocity measurements
Yu Zhao, Zhisheng Duan, Guanghui Wen · Chinese Control Conference · 2013
This paper investigates the distributed finite-time tracking problems of networks of multiple Euler-Lagrange dynamics. First of all, a finite-time algorithm is designed on both the relative position and the relative velocity measurements. Then, based on the aforementioned tracking protocols, a bounded control law is proposed in constraint of saturation inputs. Motivated by the bounded control protocol, a new class of finite-time control protocols are developed without relative velocity measurements with the aid of second-order sliding-mode observer. It is theoretically proved that the multiple Euler-Lagrange dynamics can move to be with the target location in finite time under the present control protocol. Finally, the effectiveness of the algorithms is illustrated by a numerical simulation.