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网络化拉格朗日系统协调跟踪控制: 算法与实验

陈刚 岳元龙 林青

陈刚, 岳元龙, 林青. 网络化拉格朗日系统协调跟踪控制: 算法与实验. 自动化学报, 2014, 40(11): 2563-2572. doi: 10.3724/SP.J.1004.2014.02563
引用本文: 陈刚, 岳元龙, 林青. 网络化拉格朗日系统协调跟踪控制: 算法与实验. 自动化学报, 2014, 40(11): 2563-2572. doi: 10.3724/SP.J.1004.2014.02563
CHEN Gang, YUE Yuan-Long, LIN Qing. Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments. ACTA AUTOMATICA SINICA, 2014, 40(11): 2563-2572. doi: 10.3724/SP.J.1004.2014.02563
Citation: CHEN Gang, YUE Yuan-Long, LIN Qing. Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments. ACTA AUTOMATICA SINICA, 2014, 40(11): 2563-2572. doi: 10.3724/SP.J.1004.2014.02563

网络化拉格朗日系统协调跟踪控制: 算法与实验

doi: 10.3724/SP.J.1004.2014.02563
基金项目: 

Supported by National Natural Science Foundation of China (61273108), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, the Fundamental Research Funds for the Central Universities (106112013CDJZR175501)

Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments

Funds: 

Supported by National Natural Science Foundation of China (61273108), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, the Fundamental Research Funds for the Central Universities (106112013CDJZR175501)

  • 摘要: 针对参数不确定条件下的网络化拉格朗日系统,提出了一种基于Lyapunov理论的分布式自适应协调控制器设计方法.区别于现有的网络化拉格朗日系统控制方法,本文的方法适用于更广泛的有向通信拓扑系统,即只要求通信拓扑包含一棵具有动态领导节点的生成树.进一步考虑邻节点系统的速度信息未知的情形,提出一种基于分布式滤波器的自适应协调跟踪控制方法.最后,给出了一个网络化多机械臂实验平台,进行了实验研究,验证了算法的有效性.
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出版历程
  • 收稿日期:  2013-06-17
  • 修回日期:  2013-12-24
  • 刊出日期:  2014-11-20

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