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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, and Xinping Guan
International Journal of Control, Automation, and Systems, vol. 20, no. 9, pp.2993-3005, 2022

Abstract : "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. "

Keyword : "Distributed control, Euler-Lagrange systems, finite-time consensus, super-twisting observer. "

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