Practical Fixed-Time Consensus Tracking for Multiple Euler–Lagrange Systems With Stochastic Packet Losses and Input/Output Constraints

Abstract

In this article we investigate the practical fixed-time consensus tracking problem for multiple Euler–Lagrange systems, which is subject to, concurrently, stochastic packet losses in directed communication networks (DCNs) and input/output constraints. In practice, the packet losses in the communication network may lead to communication failure and control accuracy degradation. To address this impact, a novel fully distributed observer is established to estimate the leader’s states within fixed time. Subsequently, the state constraint function is introduced so that the designed adaptive control protocol can be used in a uniform structure with unconstrained or asymmetric/symmetric output constraints without changing the adaptive structure. Combining the backstepping technique with fuzzy-logic systems, an adaptive fixed-time local control protocol is constructed to drive each agent to track the leader’s states estimated by the observer. Besides, a novel auxiliary system is introduced to solve the constraint problem of the control input. Furthermore, through rigorous theoretical analysis, it is verified that all signals converge to the compact set close to zero with guaranteed fixed-time convergence rate. At last, a representative simulation is carried out to demonstrate the practicability of the proposed method.