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<p>This study proposes an embedded prescribed-time distributed control algorithm for Lagrangian multi-robot systems with unknown parameters. The algorithm regulates time by embedding a prescribed-time function while utilizing sliding mode control and an error-driven adaptive law to eliminate parameter uncertainties. Numerical experiments are provided to verify the initial state irrelevance, parameter uncertainty, and settling time regulation of the proposed control method.</p>

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Embedding prescribed-time adaptive control protocol unveiling distributed consensus in multirobot systems via directed topology

  • 期刊论文

  • 发表日期：

    2025年1月16日

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  • Yonghao Xie,
  • Xinru Ma,
  • Hengyu Li,
  • Shaorong Xie

摘要

This study proposes an embedded prescribed-time distributed control algorithm for Lagrangian multi-robot systems with unknown parameters. The algorithm regulates time by embedding a prescribed-time function while utilizing sliding mode control and an error-driven adaptive law to eliminate parameter uncertainties. Numerical experiments are provided to verify the initial state irrelevance, parameter uncertainty, and settling time regulation of the proposed control method.