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切换有向拓扑中的网络化Euler-Lagrange系统自适应同步控制

郭海波 李化义 仲惟超 张世杰 曹喜滨

郭海波, 李化义, 仲惟超, 张世杰, 曹喜滨. 切换有向拓扑中的网络化Euler-Lagrange系统自适应同步控制. 自动化学报, 2014, 40(11): 2541-2548. doi: 10.3724/SP.J.1004.2014.02541
引用本文: 郭海波, 李化义, 仲惟超, 张世杰, 曹喜滨. 切换有向拓扑中的网络化Euler-Lagrange系统自适应同步控制. 自动化学报, 2014, 40(11): 2541-2548. doi: 10.3724/SP.J.1004.2014.02541
GUO Hai-Bo, LI Hua-Yi, ZHONG Wei-Chao, ZHANG Shi-Jie, CAO Xi-Bin. Adaptive Synchronization of Networked Euler-Lagrange Systems with Directed Switching Topology. ACTA AUTOMATICA SINICA, 2014, 40(11): 2541-2548. doi: 10.3724/SP.J.1004.2014.02541
Citation: GUO Hai-Bo, LI Hua-Yi, ZHONG Wei-Chao, ZHANG Shi-Jie, CAO Xi-Bin. Adaptive Synchronization of Networked Euler-Lagrange Systems with Directed Switching Topology. ACTA AUTOMATICA SINICA, 2014, 40(11): 2541-2548. doi: 10.3724/SP.J.1004.2014.02541

切换有向拓扑中的网络化Euler-Lagrange系统自适应同步控制

doi: 10.3724/SP.J.1004.2014.02541
基金项目: 

Supported by National Natural Science Foundation of China (60904051), the Innovative Team Program of the National Natural Science Foundation of China (61021002), and the Royal Academy of Engineering-Research Exchanges with China and India Awards

Adaptive Synchronization of Networked Euler-Lagrange Systems with Directed Switching Topology

Funds: 

Supported by National Natural Science Foundation of China (60904051), the Innovative Team Program of the National Natural Science Foundation of China (61021002), and the Royal Academy of Engineering-Research Exchanges with China and India Awards

  • 摘要: 在动态切换拓扑中研究了带有参数不确定性和单向信息交互的网络化Euler-Lagrange系统的协同控制问题.针对通信拓扑随时间变化的问题,利用有效的局部信息交互设计了一个分布式控制律,并利用自适应技术解决了系统动力学中的参数不确定性问题.通过构造一个连续的Lyapunov函数,证明了系统在切换拓扑的并图存在一棵有向生成树的频率足够高时即可实现网络同步.此外,进一步拓展使用简单的干扰观测器或滑模控制方法进一步研究了该协同策略下的干扰抑制问题.最后,以五颗异构航天器的姿态同步为背景,通过数值仿真及其对照说明了所提合作控制策略的有效性.
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出版历程
  • 收稿日期:  2013-06-19
  • 修回日期:  2014-01-20
  • 刊出日期:  2014-11-20

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