Decentralized finite-time leaderless consensus algorithm for networked Euler-Lagrange systems
Yuan Liu · Control theory & applications · 2014
This paper considers finite time consensus problem of networked Euler-Lagrange systems.For each agent,finite time consensus algorithm is designed by using the position information of its neighbors and the velocity information of its own.Because the closed-loop networked Euler-Lagrange equations are non-autonomous,we need to use Matrosov's theorem,Lyapunov stability theorem and the finite-time stability theory for convergence analysis.Numerical simulation is conducted to validate the effectiveness of the controller.