Fast finite-time tracking consensus with applications on multiple servo motors
dc.contributor.author | Zheng, S. | |
dc.contributor.author | Shi, P. | |
dc.contributor.author | Xie, Y. | |
dc.contributor.author | Wang, S. | |
dc.date.issued | 2023 | |
dc.description.abstract | This article focuses on the fast finite-time tracking consensus for uncertain nonlinear multiagent systems. By gracefully combining the hierarchical decomposition, adding a barrier power integrator and disturbance compensation techniques, a new adaptive fast finite-time controller is proposed. Compared with the existing works, the proposed method has several distinguishing features: 1) It can achieve fast finite-time convergence with full state constraints; 2) it can deal with some fully unknown nonlinearities and state-dependent disturbance. Moreover, the nonlinearities can be related with the states of all the followers; 3) the input of the leader is not required to be zero, meaning a broad class of references signals can be generated; and 4) the controller is computationally simply and ready to be implemented. No fuzzy logic/neural networks are needed. Applications of the proposed method on multiple servo motors are also studied. | |
dc.description.statementofresponsibility | Shiqi Zheng, Peng Shi, Yuanlong Xie, and Shuting Wang | |
dc.identifier.citation | IEEE Transactions on Industrial Electronics, 2023; 70(3):2993-3002 | |
dc.identifier.doi | 10.1109/TIE.2022.3174244 | |
dc.identifier.issn | 0278-0046 | |
dc.identifier.issn | 1557-9948 | |
dc.identifier.orcid | Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435] | |
dc.identifier.uri | https://hdl.handle.net/2440/137809 | |
dc.language.iso | en | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | |
dc.rights | © 2022 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information. | |
dc.source.uri | https://doi.org/10.1109/tie.2022.3174244 | |
dc.subject | Adaptive control; adding a power integrator; backstepping; finite-time control; state constraints | |
dc.title | Fast finite-time tracking consensus with applications on multiple servo motors | |
dc.type | Journal article | |
pubs.publication-status | Published |