Finite-time consensus of Multi Euler-Lagrange systems with input saturation
Ye Genting, Chen Lei, Zhongshen Li · 2019
Considering the consistency of the Multi Euler-Lagrange systems,a finite-time consensus agreement based on no leader is proposed.. Considering the existence of saturation limitation in Multi Euler-Lagrange system, the saturation input is used to process the input, so that the system can better meet the application in practical situations; the finite-time consensus control is further introduced, so that the states of the individual agent state in the system can be consistent in a set time. Using algebraic graph theory, Lyapunov stability theorem, Matrosov theorem and LaSalle theorem, it is proved that the system can achieve consensus within a finite-time under the control protocol, and the control input is within the set interval. Finally, the effectiveness of the protocol is further verified by simulation experiments.