Fixed-time distributed average consensus tracking for multiple Euler-Lagrange systems

doi:10.23919/JSEE.2025.000034

Abstract

Abstract:

This paper investigates the sliding-mode-based fixed-time distributed average tracking (DAT) problem for multiple Euler-Lagrange systems in the presence of external disturbances. The primary objective is to devise controllers for each agent, enabling them to precisely track the average of multiple time-varying reference signals. By averaging these signals, we can mitigate the influence of errors and uncertainties arising during measurements, thereby enhancing the robustness and stability of the system. A distributed fixed-time average estimator is proposed to estimate the average value of global reference signals utilizing local information and communication with neighbors. Subsequently, a fixed-time sliding mode controller is introduced incorporating a state-dependent sliding mode function coupled with a variable exponent coefficient to achieve distributed average tracking of reference signals, and rigorous analytical methods are employed to substantiate the fixed-time stability. Finally, numerical simulation results are provided to validate the effectiveness of the proposed methodology, offering insights into its practical application and robust performance.

Key words: distributed average tracking (DAT), fixed-time convergence, Euler-Lagrange systems, sliding mode control

Guhao SUN, Qingshuang ZENG, Zhongze CAI. Fixed-time distributed average consensus tracking for multiple Euler-Lagrange systems[J]. Journal of Systems Engineering and Electronics, 2025, 36(2): 523-536.

Figures/Tables 7

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