Fast finite-time tracking consensus with applications on multiple servo motors

dc.contributor.authorZheng, S.
dc.contributor.authorShi, P.
dc.contributor.authorXie, Y.
dc.contributor.authorWang, S.
dc.date.issued2023
dc.description.abstractThis 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.statementofresponsibilityShiqi Zheng, Peng Shi, Yuanlong Xie, and Shuting Wang
dc.identifier.citationIEEE Transactions on Industrial Electronics, 2023; 70(3):2993-3002
dc.identifier.doi10.1109/TIE.2022.3174244
dc.identifier.issn0278-0046
dc.identifier.issn1557-9948
dc.identifier.orcidShi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]
dc.identifier.urihttps://hdl.handle.net/2440/137809
dc.language.isoen
dc.publisherInstitute 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.urihttps://doi.org/10.1109/tie.2022.3174244
dc.subjectAdaptive control; adding a power integrator; backstepping; finite-time control; state constraints
dc.titleFast finite-time tracking consensus with applications on multiple servo motors
dc.typeJournal article
pubs.publication-statusPublished

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