分布式无源性系统的同步控制与分析

陈刚; 余名

doi:10.3724/SP.J.1004.2012.00882

分布式无源性系统的同步控制与分析

doi: 10.3724/SP.J.1004.2012.00882

陈刚,
余名

1.
重庆大学自动化学院重庆 400044

详细信息

通讯作者:
陈刚, 博士, 重庆大学自动化学院副教授. 主要研究方向为分布式协调控制, 网络控制, 非线性控制, 智能控制.

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- 文章访问数: 1629
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- 被引次数: 0
出版历程
- 收稿日期: 2010-11-29
- 修回日期: 2012-01-10
- 刊出日期: 2012-05-20

Synchronizing Control and Analysis of Distributed Passive Systems

CHEN Gang,
YU Ming

1.
College of Automation, Chongqing University, Chongqing 400044

摘要

摘要: 针对由多个无源性系统所构成的分布式有向网络系统,基于 Lyapunov方法提出了设计与分析同步控制协议的新框架. 其设计与分析方法适用于一类更广泛的有向拓扑网络,克服了已有理论框架下拓扑分析的局限性. 该方法也适用于带有通信时延及控制输入饱和的系统. 在新的理论框架下,分析了网络化拉格朗日系统的同步控制问题,并对网络化多机械手系统的同步控制进行了仿真研究. 仿真结果表明了算法的有效性.
- 无源性系统 /
- 同步 /
- 分布式控制 /
- Lyapunov方法
Abstract: Based on Lyapunov methods, a systematic way is proposed to design and analyze the synchronizing control protocols for the distributed passive systems with a directed communication topology. The proposed method extends the previous work in the context of passive system control and is suitable for more general directed communication graph topology. The communication delays and the controller saturation are also considered. Under the proposed theoretic framework, we show that the synchronization problems of networked Lagrange systems can be solved. As an illustration of our results, we study the synchronizing control for the networked manipulator systems. The simulation results show the effectiveness of the proposed algorithm.
- Passive systems /
- synchronization /
- distributed con- trol /
- Lyapunov method

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参考文献(1)

[1]

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