Distributed robust fault‐tolerant control of networked Euler–Lagrange systems with time delays

Abstract

AbstractThis article addresses the distributed robust fault‐tolerant control design problem for networked Euler–Lagrange (EL) systems with time‐varying delays under directed communication topologies. The leaderless and leader‐follower consensus is established. In order to eliminate the influence of actuator faults and external disturbances on the system performance, some designer‐specified performance constraints are imposed on the sliding variables rather than the tracking errors. Based on the variable transformation, two kinds of fault‐tolerant control schemes are proposed under the prescribed constraints. The stability of the closed‐loop systems with time delays is analyzed, and it is shown that the sliding variables eventually converge within an arbitrarily small boundary range. Simulation studies are presented to exhibit the effectiveness of the proposed control schemes.