Finite Time Coordinated Control Of Network Euler - Lagrange System

In recent years, with the rapidly developed science and technology and increased social requirements, coordinated control problem of multi-agent systems has become a research hot spot in control theory and arti?cial agent ?elds, and it has a broad application space. And because the research on Networked Euler Lagrange System(NELS) coordinated control problem is theoretical and practical signi?cance, many scholars and experts focused on it recently. This thesis studies the distributed ?nitetime cooperation control of NELS from the aspect of theory, and the following work has been done.Distributed ?nite-time coordinated control problem of NELS with input constraint is researched. Based on homogeneous theory, by using hyperbolic tangent function and introducing an auxiliary variable, distributed ?nite-time consensus algorithm for input constraint is designed to guarantee the stability of closed-loopsystem in ?nite time. In which the boundary of control input of agent does not rely on the neighbor number.Considering the lack of absolute and relative velocities, distributed ?nite-time coordinated control problem of second-order integrator system is studied. Upon it,distributed ?nite-time coordinated control of NELS is studied, and ?nite-time consensus control algorithm of output feedback is proposed to guarantee the positions and velocities of agents to achieve consensus in ?nite time.Numerical simulation system is built. In which, mathematical simulation model is designed to thoroughly verify the proposed algorithms.