2022
DOI: 10.21203/rs.3.rs-1993628/v1
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Finite-Time Containment Control for Multiple Euler-Lagrange Systems Based on Disturbance Observer: A Discrete-Time Case

Abstract: This paper focuses on the finite-time containment control problem (FTCCP) for multiple discrete-time Euler-Lagrange (DTEL) systems under a directed graph. Firstly, the DTEL system is transformed into a discrete-time second-order nonlinear system (DTSONS) via Euler's first-order approximation method. Then, to deal with the model uncertainties and external disturbance for the DTEL system, a local discrete-time disturbance observer (DTDO) is addressed to estimate them, which can guarantee the estimation error to … Show more

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