多Euler-Lagrange系统抑制抖振分布式有限时间包含控制

This study is carried out to investigate the distributed chattering reduction finite-time containment control for multiple Euler-Lagrange systems with systems model uncertainties and external disturbances. Firstly, by defining containment control error variables and choosing an appropriate high-order finite-time sliding variable, a distributed finite-time containment control algorithm was designed. To reduce chattering, the sign function term was included in the derivative of the control law and the continuous control output was obtained by definite integral. Besides, adaptive estimation laws were proposed to approximate the upper bound of the model uncertainties and external disturbances. Based on the graph theory and matrix theory, it is demonstrated that the systems are stable in finite time and the estimation to model uncertainties and external disturbances is effective by Lyapunov method. Finally, simulation results show the effectiveness of the control law.