Finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities

Wengang Ao, Jiangshuai Huang, Qian Cui, Rene Vinicio Sanchez

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

In this paper, we consider the finite-time leaderless consensus control of a group of Euler-Lagrangian systems with backlash nonlinearities. A finite time distributed continuous control scheme is proposed for the multi-agent systems. It is shown that the output of the Euler-Lagrangian systems reach consensus within finite time. Transient performances in terms of convergence rate is also analyzed. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.

Original languageEnglish
Pages (from-to)9286-9301
Number of pages16
JournalJournal of the Franklin Institute
Volume356
Issue number16
DOIs
StatePublished - 1 Nov 2019

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