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Dynamic event-triggered finite-time control for multiple Euler-Lagrange systems using integral terminal sliding mode

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Science China(Technological Sciences) 2023年第11期66卷 3164-3173页

作者： WANG Yan LI Xiao-Meng YUAN Wang YAO DeYin LI HongYi Information Technology Research Institute Shenzhen Institute of Information TechnologyShenzhen 518172China School of Automation Guangdong University of TechnologyGuangzhou 510006China

The tracking control for multiple Euler-Lagrange systems with external disturbances in finite time under undirected topology is investigated in this paper.A dynamic model is established for the multi-EL systems to accurately describe the general mechanical ***,an integral terminal sliding mode surface is devised to converge the tracking errors of the system state to a neighborhood of zero within finite time,and the designed finite-time controller ensures fast convergence and high steady-state *** reduce the controller update frequency and network transmission communication load,a dynamic event-triggered mechanism is introduced between the sensor and controller,and no Zeno behavior was ***,the Lyapunov stability theory and finite-time stability criterion prove that all signals in the closed-loop system are uniformly ultimately bounded in finite ***,the simulation results verified the effectiveness of the proposed control method.

关键词： dynamic event-triggered mechanism external disturbances finite-time control integral terminal sliding mode control multiple Euler–Lagrange systems

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Finite-time disturbance Observer Based Active Anti-disturbance control for Disturbed Inverted Pendulum System

Finite-time disturbance Observer Based Active Anti-disturban...

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第40届中国控制会议

作者： Xueying Lu Huazhou Hou Shihua Li School of Automation Southeast University Key Laboratory of Measurement and control of Complex Systems of Engineering Ministry of Education

The balance control problem of disturbed inverted pendulum systems is *** of the existing advanced control methods for disturbed inverted pendulum systems are developed only to suppress constant or bounded *** results in a degradation of system performance when meeting severe *** this end,a finite-time disturbance observer is developed to estimate time-varying ***,an integral terminal sliding mode controller is designed for the inverted pendulum *** on the finite-time disturbance observer and the integral terminal sliding mode technique,a composite controller with finite-time convergence is proposed,which rejects the time-varying disturbances and alleviates the *** simulation results on the inverted pendulum system are presented to demonstrate the advantage and effectiveness of the proposed method.

关键词： Anti-disturbance Finite-time Disturbance Observer integral terminal sliding mode control

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Fuzzy adaptive integral sliding mode synchronization of a class of chaotic systems

Fuzzy adaptive integral sliding mode synchronization of a cl...

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第37届中国控制会议

作者： Xiaoxia Ma Yali Guo Department of Applied Mathematics Huainan Normal University Department of Research and Development North Automatic Control Technology Institute

Synchronization between two uncertain different chaotic systems is investigated by using adaptive fuzzy integral terminal sliding mode *** proposed method can guarantee the convergence of the synchronization errors in some finite *** addition,the singular problem which usually occurs in traditional sliding mode control,can also be ***,some simulation studies are presented to show the effectiveness of the proposed method.

关键词： Fuzzy control integral terminal sliding mode control chaos synchronization chaotic system

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