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时延网络中 Euler-Lagrange 系统的分布式自适应协调控制

刘源 闵海波 王仕成 张金生 刘志国

刘源, 闵海波, 王仕成, 张金生, 刘志国. 时延网络中 Euler-Lagrange 系统的分布式自适应协调控制. 自动化学报, 2012, 38(8): 1270-1279. doi: 10.3724/SP.J.1004.2012.01270
引用本文: 刘源, 闵海波, 王仕成, 张金生, 刘志国. 时延网络中 Euler-Lagrange 系统的分布式自适应协调控制. 自动化学报, 2012, 38(8): 1270-1279. doi: 10.3724/SP.J.1004.2012.01270
LIU Yuan, MIN Hai-Bo, WANG Shi-Cheng, ZHANG Jin-Sheng, LIU Zhi-Guo. Distributed Adaptive Synchronization of Networked Euler-Lagrange Systems with Communication Delays. ACTA AUTOMATICA SINICA, 2012, 38(8): 1270-1279. doi: 10.3724/SP.J.1004.2012.01270
Citation: LIU Yuan, MIN Hai-Bo, WANG Shi-Cheng, ZHANG Jin-Sheng, LIU Zhi-Guo. Distributed Adaptive Synchronization of Networked Euler-Lagrange Systems with Communication Delays. ACTA AUTOMATICA SINICA, 2012, 38(8): 1270-1279. doi: 10.3724/SP.J.1004.2012.01270

时延网络中 Euler-Lagrange 系统的分布式自适应协调控制

doi: 10.3724/SP.J.1004.2012.01270
详细信息
    通讯作者:

    刘源

Distributed Adaptive Synchronization of Networked Euler-Lagrange Systems with Communication Delays

  • 摘要: 对一类含未知参数的Euler-Lagrange系统协调控制问题进行了研究, 提出了一种自适应控制算法. 该算法容许通信网络为最一般的伪强连通图, 并允许通信时延的存在. 对系统中领航者为静态和动态两种情况分别进行了研究, 设计了相应的控制器.研究结果表明,在仅有部分个体能够和领航者进行通信的情况下, 控制器能保证网络中其他个体最终和领航者趋于一致. 运用Lyapunov稳定性定理和Barbalat 定理等对自适应控制器的稳定性进行了证明,并利用数值仿真验证了算法的有效性.
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  • 收稿日期:  2011-12-23
  • 修回日期:  2012-04-23
  • 刊出日期:  2012-08-20

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