Finite-time Tracking Control for Networked Mechanical Systems
This paper investigates the finite-time tracking problem for a class of networked mechanical systems with a leader-follower structure. A novel sliding-mode tracking protocol is proposed for the networked mechanical systems with bounded model uncertainties and/or external disturbances by using Lyapunov techniques and graph tools. A new sliding manifold is first derived. A control law is then proposed to ensure convergence to the sliding manifold. Finite time convergence time is estimated. A continuous finite-time control protocol is also suggested for the networked systems with model uncertainties and/or external disturbances. The tracking errors are proved to converge to an arbitrarily small bound around zero in finite time. Simulation results demonstrate the effectiveness of the obtained theoretical results.
Networked mechanical systems finite-time tracking control cooperative control graphs
CHEN Gang YU Ming
College of Automation, Chongqing University, Chongqing, 400044
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5764-5769
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）