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切换网络拓扑下Euler-Lagrange系统的分布式协调控制

闵海波 刘志国 刘源 王仕成 杨艳丽

闵海波, 刘志国, 刘源, 王仕成, 杨艳丽. 切换网络拓扑下Euler-Lagrange系统的分布式协调控制. 自动化学报, 2013, 39(7): 1003-1010. doi: 10.3724/SP.J.1004.2013.01003
引用本文: 闵海波, 刘志国, 刘源, 王仕成, 杨艳丽. 切换网络拓扑下Euler-Lagrange系统的分布式协调控制. 自动化学报, 2013, 39(7): 1003-1010. doi: 10.3724/SP.J.1004.2013.01003
MIN Hai-Bo, LIU Zhi-Guo, LIU Yuan, WANG Shi-Cheng, YANG Yan-Li. Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology. ACTA AUTOMATICA SINICA, 2013, 39(7): 1003-1010. doi: 10.3724/SP.J.1004.2013.01003
Citation: MIN Hai-Bo, LIU Zhi-Guo, LIU Yuan, WANG Shi-Cheng, YANG Yan-Li. Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology. ACTA AUTOMATICA SINICA, 2013, 39(7): 1003-1010. doi: 10.3724/SP.J.1004.2013.01003

切换网络拓扑下Euler-Lagrange系统的分布式协调控制

doi: 10.3724/SP.J.1004.2013.01003
基金项目: 

Supported by National Natural Science Foundation of China (61203354, 61004021, 61174069), National Basic Research Program of China (973 Program) (2012CB821206), Beijing Natural Science Foundation (4122037), and the Ph. D. Programs Foundation of Min- istry of Education of China (20110002110015)

详细信息
    通讯作者:

    闵海波

Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology

Funds: 

Supported by National Natural Science Foundation of China (61203354, 61004021, 61174069), National Basic Research Program of China (973 Program) (2012CB821206), Beijing Natural Science Foundation (4122037), and the Ph. D. Programs Foundation of Min- istry of Education of China (20110002110015)

  • 摘要: 研究切换网络拓扑下含未知参数的分布式Euler-Lagrange系统(简称EL系统)的自适应协调控制问题.通过引入一种新颖的自适应控制构架,设计了分散式控制器,使其容许未知的系统参数.基于图论,Lyapunov稳定性理论以及切换控制理论证明了算法的稳定性.本文特色在于在同一理论框架下处理EL系统协调控制中的未知参数问题与切换拓扑问题,实现静态和动态两种情况下的控制目标.仿真结果验证了算法的有效性.
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出版历程
  • 收稿日期:  2012-09-10
  • 修回日期:  2013-01-29
  • 刊出日期:  2013-07-20

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