Fixed-Time Distributed Average Consensus Tracking for Multiple Euler-Lagrange Systems
Year: 2025
Type: article
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.
Authors: Sun Guhao, Zeng Qingshuang, Cai Zhongze
Institution: Harbin Institute of Technology
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: diamond
Award: G1695728142
OpenAlex ID: W4410770203