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Fast Finite-Time Output Bipartite Tracking of Networked Heterogeneous Robotic Systems with Matrix-Weighted Digraphs

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Abstract

The fast finite-time output bipartite tracking of networked heterogeneous robotic systems with matrix-weighted digraphs, parametric uncertainties and external disturbances is studied in this article. Besides, solving the fast finite-time bipartite tracking problem in this paper implies that the system states are forced to reach the employed nonsingular finite-time sliding surface in a predefined time, which thus called fast finite-time control. To address the aforementioned issues, a fast finite time hierarchical control algorithm utilizing estimator methodologies are proposed. The Lyapunov stability theory is used to derive some sufficient requirements for performing output bipartite tracking in a fast finite time manner. To verify that the theoretical results are valid, numerical simulation examples are given.

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Algorithm 1

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Data sharing is not applicable to this article as no datasets were generated or analysed during the current study.

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Funding

This work was funded by the National Natural Science Foundation of China (62071173) and the Natural Science Foundation of Hubei Province (2022CFB479).

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Authors and Affiliations

  1. School of Electrical Engineering and Automation, Hubei Normal University, Huangshi, 435000, China

    Renjie Gu, Tao Han & Bo Xiao

  2. School of Information Science and Engineering, East China University of Science and Technology, Shanghai, 200000, China

    Huaicheng Yan

Authors
  1. Renjie Gu
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  2. Tao Han
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  3. Bo Xiao
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  4. Huaicheng Yan
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Correspondence to Tao Han.

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Gu, R., Han, T., Xiao, B. et al. Fast Finite-Time Output Bipartite Tracking of Networked Heterogeneous Robotic Systems with Matrix-Weighted Digraphs. Circuits Syst Signal Process 43, 6132–6154 (2024). https://doi.org/10.1007/s00034-024-02719-w

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