Back to Search
Start Over
Distributed finite-time tracking for multiple uncertain mechanical systems with dead-zone input and external disturbances.
- Source :
-
Transactions of the Institute of Measurement & Control . Nov2019, Vol. 41 Issue 15, p4450-4461. 12p. - Publication Year :
- 2019
-
Abstract
- This paper addresses the distributed finite-time tracking problem for multiple uncertain mechanical systems with dead-zone input and external disturbances. An observer-based adaptive finite-time consensus protocol is designed, which consists of two steps. Firstly, distributed observers are developed such that all the mechanical systems can obtain the leader's state in finite settling time. Then, based on backstepping method and adding a power integrator technique, the finite-time consensus protocol and appropriate adaptive laws are designed to track the estimated leader's state. Rigorous proofs show that the tracking errors between each mechanical system and the leader can converge to a small neighborhood of origin in finite time despite the presence of dead-zone nonlinearity and external disturbances. Finally, simulation example is provided to demonstrate the effectiveness of the proposed scheme. [ABSTRACT FROM AUTHOR]
- Subjects :
- *UNCERTAIN systems
*INTEGRATORS
Subjects
Details
- Language :
- English
- ISSN :
- 01423312
- Volume :
- 41
- Issue :
- 15
- Database :
- Academic Search Index
- Journal :
- Transactions of the Institute of Measurement & Control
- Publication Type :
- Academic Journal
- Accession number :
- 138672652
- Full Text :
- https://doi.org/10.1177/0142331219860278