 Distributed sliding mode consensus control for multiple discrete-Time Euler-Lagrange systemsXinchen Guo and Guoliang Wei Applied Mathematics and Computation, 2023, vol. 446, issue C Abstract: This paper studies the consensus problem for multiple discrete-time Euler-Lagrange (DTEL) systems via distributed sliding mode control under a directed graph. Different from the existing work, we transform the DTEL system into a discrete-time second-order nonlinear system through the famous Euler’s first-order approximation method, and a local discrete-time disturbance observer (DTDO) is introduced to estimate both model uncertainties and external disturbances. In addition, a novel integral sliding surface is proposed to guarantee that the consensus error is asymptotically stable when agents move on the sliding surface. Based on such a sliding manifold combined with the proposed DTDO, a distributed sliding mode controller is constructed. Meanwhile, a sufficient condition is derived to ensure the existence of the quasi-sliding mode motion. Finally, numerical simulations of the two-link robot arm’s system are carried out to verify the effectiveness of the proposed control algorithm. Keywords: Multiple discrete-time Euler-Lagrange systems; Disturbance observers; Iintegral sliding surfaces; Consensus; Quasi-sliding mode motion (search for similar items in EconPapers) Downloads: (external link) Related works: Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:446:y:2023:i:c:s0096300323000474 DOI: 10.1016/j.amc.2023.127878 Access Statistics for this article Applied Mathematics and Computation is currently edited by Theodore Simos More articles in Applied Mathematics and Computation from Elsevier |
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