Finite-time Cooperative Control of Multiple Uncertain Euler-Lagrange Systems
Yi Dong · 2022
This paper considers the finite-time cooperative control problem for a multi-agent system composed of multiple heterogeneous Euler-Lagrange systems with parametric uncertainty and a dynamic leader. A distributed finite-time observer is first proposed to estimate the reference signal under a directed topology, and then a finite-time controller is constructed by transforming uncertain Euler-Lagrange systems into second-order systems through a partial design of the controller and utilizing the backstepping-like design procedure. The efficiency of the design is illustrated by simulation.