文献类型：期刊文献

英文题名：Distributed robust tracking control for multiple Euler-Lagrange systems with full-state constraints and input saturation using an event-triggered scheme

作者：Liu, Haitao[1,2];Du, Guangshuo[1];Tian, Xuehong[1];Zou, Lanping[1]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang, Peoples R China

年份：2022

卷号：32

期号：2

起止页码：807

外文期刊名：INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

收录：SCI-EXPANDED(收录号：WOS:000714895400001)、、EI(收录号：20214511118908)、Scopus(收录号：2-s2.0-85118507761)、WOS

基金：2019 "Chong First-class" Provincial Financial Special Funds Construction Project, Grant/Award Number: 231419019; Fostering Plan for Major Scientific Research Projects of the Education Department of Guangdong Province-Characteristic Innovation Projects, Grant/Award Number: 2017KTSCX087; Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang), Grant/Award Number: ZJW-2019-01; Key Project of DEGP, Grant/Award Number: 2021ZDZX1041; Natural Science Foundation of Guangdong Province China, Grant/Award Number: 2018A0303130076; Science and Technology Planning Project of Zhanjiang City, Grant/Award Number: 2020B01267

语种：英文

外文关键词：distributed control; event-triggered scheme; input saturation; multiple Euler-Lagrange system

外文摘要：In this article, distributed tracking control is studied for multiple Euler-Lagrange systems in the presence of external disturbances and input saturation. Specifically, full-state constraints, input saturation, communication delays, and unmeasured velocities are all considered simultaneously. First, a novel event-triggered scheme is developed to save the communication source and reduce computational load. Second, the anti-saturation compensation algorithm is exploited to compensate for system saturation. Third, an adaptive law is designed to offset external disturbances. Moreover, a high-gain observer is employed to estimate unmeasured velocities. Theorem analysis shows the stability of the closed-loop system, and numerical simulations are provided to verify the effectiveness of the proposed control strategy.