切换网络拓扑下Euler-Lagrange系统的分布式协调控制

闵海波; 刘志国; 刘源; 王仕成; 杨艳丽

doi:10.3724/SP.J.1004.2013.01003

切换网络拓扑下Euler-Lagrange系统的分布式协调控制

doi: 10.3724/SP.J.1004.2013.01003

1.
第二炮兵工程大学西安 710025

基金项目:

Supported by National Natural Science Foundation of China (61203354, 61004021, 61174069), National Basic Research Program of China (973 Program) (2012CB821206), Beijing Natural Science Foundation (4122037), and the Ph. D. Programs Foundation of Min- istry of Education of China (20110002110015)

详细信息

通讯作者:
闵海波

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出版历程
- 收稿日期: 2012-09-10
- 修回日期: 2013-01-29
- 刊出日期: 2013-07-20

Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology

1.
Hi-Tech Institute of Xi'an, Xi'an 710025, China

Funds:

摘要

摘要: 研究切换网络拓扑下含未知参数的分布式Euler-Lagrange系统(简称EL系统)的自适应协调控制问题.通过引入一种新颖的自适应控制构架,设计了分散式控制器,使其容许未知的系统参数.基于图论,Lyapunov稳定性理论以及切换控制理论证明了算法的稳定性.本文特色在于在同一理论框架下处理EL系统协调控制中的未知参数问题与切换拓扑问题,实现静态和动态两种情况下的控制目标.仿真结果验证了算法的有效性.
- Euler-Lagrange系统 /
- 协调控制 /
- 切换拓扑 /
- 自适应控制
Abstract: This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in system dynamics and possible switching topology. By introducing a novel adaptive control architecture, decentralized controllers are de- veloped, which allow for parametric uncertainties. Based upon graph theory, Lyapunov theory and switching control theory, the stability of the proposed algorithms are demonstrated. A distinctive feature of this work is to address the coordination control of EL systems with unknown parameters and switching topology in a unified theoretical framework. It is shown that both static and dynamic coordinations can be reached even when the communication is switching. Simulation results are provided to demonstrate the effectiveness of the obtained results.
- Euler-Lagrange (EL) systems /
- coordination control /
- switching topology /
- adaptive control

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参考文献(26)

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