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

Abstract

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.

Keywords:

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

Disclosure statement

No potential conflict of interest was reported by the author(s).

Correction Statement

This article has been republished with minor changes. These changes do not impact the academic content of the article.

Additional information

Funding

This work was supported by the National Natural Science Foundation of China [grant numbers 62073301, 61803139, 61973133] and the Fundamental Research Founds for National University, China, China University of Geosciences (Wuhan) [grant number 1910491B05].