Nonsingular fixed‐time fault‐tolerant control for multiple Euler–Lagrange systems without continuous communication

Abstract

AbstractThis article is concerned with the fixed‐time fault‐tolerant control problem of multiple Euler–Lagrange systems (MELSs) with intermittent communication, actuator faults and input disturbances. A nonsingular fixed‐time control framework with three parts is built for the above problem. In the first part, a novel adaptive controller is proposed for MELSs to ensure the fixed‐time stability of sliding modes while successfully solving the actuator faults, parameter uncertainties and unknown disturbances. In the second part, the fixed‐time estimators based on event‐triggered communication are designed by an error decomposition approach. In the third part, an auxiliary system is introduced for the singularity problem and sufficient condition for achieving the consensus is rigorously proved by synthesizing the results of the above two parts. The key feature of the proposed control framework is that the convergence time is constrained by a constant without involving initial states, and the singularity problems of fixed‐time control is avoided. Finally, simulation examples are provided to prove the efficacy of the proposed algorithms.