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

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

1.
哈尔滨工业大学卫星技术研究所哈尔滨 150001;
2.
小卫星技术国家地方联合工程研究中心长春 130000

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

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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

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

1.
Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China;
2.
National and Local United Engineering Research Center of Small Satellite Technology, Changchun 130033, China

Funds:

摘要

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.
- 协同控制 /
- Euler-Lagrange系统 /
- 同步 /
- 切换有向图 /
- 姿态对准
Abstract: In this paper, the cooperative control problem of networked Euler-Lagrange systems with parametric uncertainties and unidirectional interaction is addressed under dynamically changing topology. As the communication graph evolves over time, a distributed control law via local effective interactions is designed. Adaptive techniques are used to deal with parametric uncertainties in the dynamics. With a continuous Lyapunov function, it is obtained that synchronization can still be achieved asymptotically as long as the union graph of the switching topologies has a directed spanning tree frequently enough. Extensions to disturbance rejection problems are also addressed using simple disturbance-observer or sliding mode control scheme. Illustrative examples with comparing simulation in the context of attitude synchronization of five non-identical spacecraft are further presented to show the effectiveness of the proposed cooperative control strategy.
- Cooperative control /
- Euler-Lagrange (EL) system /
- synchronization /
- switching directed graph /
- attitude alignment

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