Disturbance-Compensation-Based Containment Control for Multiple Discrete-Time Euler-Lagrange Systems
GUO Xinchen, SONG Chuanming, LIANG Zhenying
1. School of Rail Transportation, ShanDong JiaoTong University, Jinan 250357, China; 2. School of Mathematics and Statistics, ShanDong University of Technology, Zibo 255000, China
Abstract：The containment control problem for multiple discrete-time Euler-Lagrange (EL for short) systems is studied in this paper. Firstly, the discrete-time EL system is transformed into a discrete-time second-order nonlinear system through the famous Euler’s first-order approximation method, and a local disturbance identifier is designed to estimate the compound disturbance for each EL system. Meanwhile, the tracking error dynamics are obtained by designing a state feedback controller involving both the available nonlinear term and the compensation of disturbances. Then, the finite-time boundedness and exponential ultimate boundedness of tracking errors are guaranteed, respectively, by selecting suitable controller gains. Finally, the effectiveness of the proposed control scheme is further verified by a numerical simulation of a group of two-link robotic arm systems.
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