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Fixed-time Event-Based Consensus Tracking for Networked Euler-Lagrange Systems with Limited-time State Constraint.
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  • HE LI,
  • Cheng-Lin Liu,
  • Yang-Yang Chen,
  • Ya Zhang
HE LI
Jiangnan University Department of Automation
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Cheng-Lin Liu
Jiangnan University Department of Automation

Corresponding Author:[email protected]

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Yang-Yang Chen
Southeast University
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Ya Zhang
Southeast University
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Abstract

This article focuses on the problem of fixed-time consensus tracking (FTCT) for limited-time state-constrained networked Euler-Lagrange (NEL) systems subject to the limited communication and computation capacities. To enable each follower to estimate leader information under unidirectional and intermittent communication environments, an event-based fixed-time distributed observer (FTDO) is constructed, while excluding Zeno behavior from the analysis. Subsequently, to reduce the control input update frequency and consumption, a backstepping-based adaptive event-triggered local control (AETLC) strategy is proposed, which ensures practical fixed-time convergence for all errors and eliminates Zeno behavior. Specifically, a novel limited-time constrained function with a unique shift function is developed, which is capable of uniformly handling limited-time constraint, persistent constraint, and unconstrained cases without altering the control structure. Simulation results are eventually performed to validate the suggested methodologies.