Finite-Time Consensus Control of Euler-Lagrange Multi-agent Systems in the Presence of Stochastic Disturbances and Actuator Faults

Siavash, M.; Majd, V.; Tahmasebi, M.

doi:10.22061/jecei.2020.6222.289

Document Type : Original Research Paper

Authors

¹ Department of Control Engineering, School of Electrical and Computer Engineering, Tarbiat Modares University, Tehran, Iran.

² School of Mathematical Sciences, Tarbiat Modares University, Tehran, Iran

https://doi.org/10.22061/jecei.2020.6222.289

Abstract

Background and Objectives: This article discusses a finite-time fault-tolerant consensus control for stochastic Euler-Lagrange multi-agent systems.
Methods: First, the finite-time consensus controller of Euler-Lagrange multi-agent systems with stochastic disturbances is presented. Then, the proposed controller is extended as a fault-tolerant controller in the presence of faults in the actuators. In these two cases, the sliding-mode distributed consensus controllers are designed.
Results: The results section is the most important part of the abstract and nothing should compromise its range and quality. This is because readers who peruse an abstract do so to learn about the findings of the study. The results section should therefore be the longest part of the abstract and should contain as much detail about the findings as the journal word count permits.
Conclusion: The proposed theorems in this paper guarantee that the consensus tracking errors are bounded in probability and after a finite-time remain in a desired area close to the origin in the mean-square senses. The obtained theorems were applied to consensus control of the robotic manipulators to indicate the performance of the proposed controllers.

Keywords

20.1001.1.23223952.2019.7.2.4.8

Main Subjects

Control

Open Access

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Publisher

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Journal of Electrical and Computer Engineering Innovations (JECEI)

Finite-Time Consensus Control of Euler-Lagrange Multi-agent Systems in the Presence of Stochastic Disturbances and Actuator Faults

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References

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Volume 7, Issue 2
July 2019
Pages 163-172

Finite-Time Consensus Control of Euler-Lagrange Multi-agent Systems in the Presence of Stochastic Disturbances and Actuator Faults

References

References

Send comment about this article

Volume 7, Issue 2July 2019Pages 163-172

Volume 7, Issue 2
July 2019
Pages 163-172