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Distributed sliding mode consensus control for multiple discrete-Time Euler-Lagrange systems

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  • Guo, Xinchen
  • Wei, Guoliang

Abstract

This paper studies the consensus problem for multiple discrete-time Euler-Lagrange (DTEL) systems via distributed sliding mode control under a directed graph. Different from the existing work, we transform the DTEL system into a discrete-time second-order nonlinear system through the famous Euler’s first-order approximation method, and a local discrete-time disturbance observer (DTDO) is introduced to estimate both model uncertainties and external disturbances. In addition, a novel integral sliding surface is proposed to guarantee that the consensus error is asymptotically stable when agents move on the sliding surface. Based on such a sliding manifold combined with the proposed DTDO, a distributed sliding mode controller is constructed. Meanwhile, a sufficient condition is derived to ensure the existence of the quasi-sliding mode motion. Finally, numerical simulations of the two-link robot arm’s system are carried out to verify the effectiveness of the proposed control algorithm.

Suggested Citation

  • Guo, Xinchen & Wei, Guoliang, 2023. "Distributed sliding mode consensus control for multiple discrete-Time Euler-Lagrange systems," Applied Mathematics and Computation, Elsevier, vol. 446(C).
    • Handle: RePEc:eee:apmaco:v:446:y:2023:i:c:s0096300323000474
    DOI: 10.1016/j.amc.2023.127878
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    References listed on IDEAS

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    1. Li, Baoxing & Han, Tao & Xiao, Bo & Zhan, Xi-Sheng & Yan, Huaicheng, 2022. "Leader-following bipartite consensus of multiple uncertain Euler-Lagrange systems under deception attacks," Applied Mathematics and Computation, Elsevier, vol. 428(C).
    2. Jun Hu & Hongxu Zhang & Hongjian Liu & Xiaoyang Yu, 2021. "A survey on sliding mode control for networked control systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(6), pages 1129-1147, April.
    3. Ying Sun & Xin Tian & Guoliang Wei, 2022. "Finite-time distributed resilient state estimation subject to hybrid cyber-attacks: a new dynamic event-triggered case," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(13), pages 2832-2844, October.
    4. Fanrong Qu & Xia Zhao & Xinmeng Wang & Engang Tian, 2022. "Probabilistic-constrained distributed fusion filtering for a class of time-varying systems over sensor networks: a torus-event-triggering mechanism," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(6), pages 1288-1297, April.
    5. Wen Li & Yugang Niu & Zhiru Cao, 2022. "Event-triggered sliding mode control for multi-agent systems subject to channel fading," International Journal of Systems Science, Taylor & Francis Journals, vol. 53(6), pages 1233-1244, April.
    6. Li, Ping & Song, Zhibao & Wang, Zhen & Liu, Wenhui, 2020. "Fixed-time consensus for disturbed multiple Euler-Lagrange systems with connectivity preservation and quantized input," Applied Mathematics and Computation, Elsevier, vol. 380(C).
    7. Li, Lili & Tuo, Yulong & Li, Tieshan & Tong, Meijuan & Wang, Shasha, 2022. "Time-varying formation control of multiple unmanned surface vessels with heterogeneous hydrodynamics subject to actuator attacks," Applied Mathematics and Computation, Elsevier, vol. 422(C).
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