Finite-time multi-target tracking of networked Euler-Lagrange systems via hierarchical active disturbance rejection control

Authors：Dong, Jiu-Wang; Liang, Chang-Duo; Ge, Ming-Feng^*; Ding, Teng-Fei; Zhao, Xiao-Wen; Liu, Zhi-Wei

Source：International Journal of Control, 2022, 95(10): 2743-2757.

DOI：10.1080/00207179.2021.1934548

• Multi-target tracking
• networked Euler-Lagrange systems (NELSs)
• finite-time hierarchical active disturbance rejection control (ADRC) algorithm

This paper investigates the finite-time multi-target tracking problem of networked Euler-Lagrange systems (NELSs) with a directed interaction topology, parametric uncertainties and external disturbances. A novel finite-time hierarchical active disturbance rejection control (ADRC) algorithm is designed to handle such a challenging problem without velocity measurement. To be specific, a nonsingular distributed estimator algorithm is newly designed to respectively estimate the states of the targets in a finite time. Based on the extended state observer (ESO), we present a finite-time local control scheme to obtain satisfactory tracking performance of the NELSs. Besides, sufficient conditions for deriving the finite-time stability of the cascade closed-loop systems are presented based on the Lyapunov argument. Finally, numerical simulations are performed to show the control performance and feasibility of the main results.

• Institution
  华中科技大学