Fixed-Time Consensus Tracking with External Disturbance

2019 ◽  
Author(s):  
Jingyi Chen ◽  
Biyan Zhou ◽  
Zefan Han ◽  
Lin Wang
Keyword(s):  
External Disturbance ◽  
Fixed Time ◽  
Consensus Tracking

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

A new measure of the degree of controllability for linear system with external disturbance and its application to wind turbines

2016 ◽  
Vol 24 (4) ◽  
pp. 739-759 ◽  
Author(s):  
Yaping Xia ◽  
Minghui Yin ◽  
Chenxiao Cai ◽  
Baoyong Zhang ◽  
Yun Zou
Keyword(s):  
Linear System ◽  
Wind Turbines ◽  
Structural Parameters ◽  
External Disturbance ◽  
Minimum Energy ◽  
Fixed Time ◽  
Speed Ratio ◽  
Initial Condition ◽  
Design And Optimization ◽  
Mass Spring

This paper is concerned with the measure of degree of controllability (DOC) for linear system with external disturbance. A new measure of DOC, in which the initial condition is regarded as a random vector, is proposed in this paper by solving the fixed-time expected minimum-energy transfer control problem. Since this new measure is dependent on the statistical information of initial condition rather than its estimated value, it is more suitable to apply the proposed measure in the design and optimization of the structural parameters of controlled plants. Furthermore, the simulations on the NREL (National Renewable Energy Laboratory) CART3 wind turbine demonstrate that the relation of the proposed measure to turbine parameters (including rotor inertia and optimum tip speed ratio) coincides with that of the MPPT efficiency to turbine parameters. This indicates that the proposed measure is applicable to guide the design and optimization of the structural parameters of wind turbines. Meanwhile, a mass-spring-damper system is also simulated to validate the proposed measure.

scholarly journals Distributed Adaptive Fixed-Time Tracking Consensus Control for Multiple Uncertain Nonlinear Strict-Feedback Systems under a Directed Graph

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-21
Author(s):  
Pinwei Li ◽  
Jiyang Dai ◽  
Jin Ying ◽  
Zhe Zhang ◽  
Cheng He
Keyword(s):  
Directed Graph ◽  
Control Strategy ◽  
Design Procedure ◽  
Fixed Time ◽  
Convergence Time ◽  
Approximation Technique ◽  
Feedback Systems ◽  
Consensus Control ◽  
Consensus Tracking ◽  
Strict Feedback

In this brief, we study the distributed adaptive fixed-time tracking consensus control problem for multiple strict-feedback systems with uncertain nonlinearities under a directed graph topology. It is assumed that the leader’s output is time varying and has been accessed by only a small fraction of followers in a group. The distributed fixed-time tracking consensus control is proposed to design local consensus controllers in order to guarantee the consensus tracking between the followers and the leader and ensure the error convergence time is independent of the systems’ initial state. The function approximation technique using radial basis function neural networks (RBFNNs) is employed to compensate for unknown nonlinear terms induced from the controller design procedure. From the Lyapunov stability theorem and graph theory, it is shown that, by using the proposed fixed-time control strategy, all signals in the closed-loop system and the consensus tracking errors are cooperatively semiglobally uniformly bounded and the errors converge to a neighborhood of the origin within a fixed time. Finally, the effectiveness of the proposed control strategy has been proved by rigorous stability analysis and two simulation examples.

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