{"title":"Preset-Time Bipartite Tracking Control of Networked Euler-Lagrange Systems","authors":"Teng-Fei Ding, Ming‐Feng Ge, Zhiwei Liu","doi":"10.1109/IAI53119.2021.9619386","DOIUrl":null,"url":null,"abstract":"This technical note studies the preset-time bipartite tracking problem of networked Euler-Lagrange systems (NELSs) subject to parameter uncertainties on directed signed graphs. Based on some time-varying functions, a hierarchical control algorithm is presented to deal with above-mentioned problem, and the related sufficient conditions on control gains are derived. Simulation example on four intercommunication robotic manipulators is proposed to verify the result.","PeriodicalId":106675,"journal":{"name":"2021 3rd International Conference on Industrial Artificial Intelligence (IAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-11-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 3rd International Conference on Industrial Artificial Intelligence (IAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IAI53119.2021.9619386","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This technical note studies the preset-time bipartite tracking problem of networked Euler-Lagrange systems (NELSs) subject to parameter uncertainties on directed signed graphs. Based on some time-varying functions, a hierarchical control algorithm is presented to deal with above-mentioned problem, and the related sufficient conditions on control gains are derived. Simulation example on four intercommunication robotic manipulators is proposed to verify the result.
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