Fixed-time consensus for disturbed multiple Euler-Lagrange systems with connectivity preservation and quantized input

Abstract The fixed-time consensus for multiple Euler-Lagrange systems subject to external disturbances and input quantization is investigated in this paper. Based on the potential function approach, the connectivity preservation is achieved under the released the assumption on the connectivity of the topology graph. With a minimal directed spanning tree, we present a new controller design procedure for the child nodes step by step, which is motivated by the backstepping method. The input disturbances are efficaciously estimated in fixed time by a disturbance observer. Via the fixed-time theory, a distributed consensus algorithm is proposed to ensure that the consensus error will reach into a small region of the origin in fixed-time. An example is presented to show the effectiveness of the controller.

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