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Finite-time Consensus of Networked Euler-Lagrange Systems via STA-based Output Feedback
Yanyan Fan,Zhenlin Jin,Baosu Guo,Xiaoyuan Luo,Xinping Guan 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.9
The consensus problem based on full state feedback has been extensively studied, but rarely for leaderless distributed finite-time consensus of networked Euler-Lagrange systems based on output-feedback. In this work, the finite-time consensus problem of networked Euler-Lagrange systems subject to unknown velocity is studied. A finite-time consensus protocol is first proposed based on the relative positions and velocities. Then, the more challenging situation of networked Euler-Lagrange systems subject to unmeasurable velocity is considered. A model-independent observer based on the super-twisting algorithm (STA) is developed for velocity error estimation, based upon which a finite-time output feedback control protocol is developed for consensus of the networked EulerLagrange systems. Stability analysis shows that the networked Euler-Lagrange systems can achieve consensus in finite time. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed control algorithms.