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

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

1.
重庆大学自动化学院, 重庆 400044

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)

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- 被引次数: 0
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

Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments

1.
College of Automation, Chongqing University, Chongqing 400044, China

Funds:

摘要

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.
- 协调控制 /
- 跟踪控制 /
- 自适应控制
Abstract: This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties. Distributed adaptive controllers are proposed with the aid of Lyapunov techniques. Compared with the previous work in the context of networked Lagrange systems control, the results in this paper are suitable for the general digraph communication topologies. Under the condition that the desired trajectory is only available to a portion of Lagrange systems, we discuss the cooperative tracking problem with general digraph communication topology, which contains a spanning tree with the root node being the active target system. Under the case where the neighbor0s velocity is unavailable, a distributed filter is introduced to overcome this deficiency. Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.
- Cooperative control /
- distributed control /
- digraph topology

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参考文献(21)

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