Distributed Fixed-Time Coordination Control for Networked Multiple Euler-Lagrange Systems.

Tao Xu, Zhisheng Duan (Corresponding author), Zhiyong Sun, Guanrong Chen

Research output: Contribution to journalArticleAcademicpeer-review

30 Citations (Scopus)
41 Downloads (Pure)


This work investigates the fixed-time distributed coordination control for multiple Euler-Lagrange systems and, in particular, addresses containment control with stationary/dynamic leaders as well as leaderless synchronization control. For the containment control scenario with stationary leaders, the subgraph associated with followers is directed. When dynamic leaders are involved, the information transfer between neighboring followers is bidirectional, for which a novel distributed estimator is developed. For the leaderless synchronization control scenario, the communication network among agents is unidirectional. Three fixed-time distributed control schemes are designed for the aforementioned three cases by applying the fixed-time stability theory. The convergence of the coordination control objectives can be achieved in a fixed time that does not depend on any initial conditions of agents' states, and the settling times are also explicitly derived. Finally, numerical simulations are presented to demonstrate the feasibility of the developed control strategies.
Original languageEnglish
Pages (from-to)4611-4622
Number of pages12
JournalIEEE Transactions on Cybernetics
Issue number6
Early online date18 Nov 2020
Publication statusPublished - 1 Jun 2022


  • Containment control
  • Decentralized control
  • Directed graphs
  • directed network
  • distributed fixed-time control
  • Euler-Lagrange system
  • leadless synchronization control
  • Network topology
  • Protocols
  • Symmetric matrices
  • Synchronization
  • Topology
  • Eulerâ€Â"Lagrange system


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