Synchronized tracking control of multiple Euler-Lagrange systems
Synchronized tracking control of multiple Euler-Lagrange systems
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DOI：
10.1109/control.2012.6334722
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发表时间：
2012-10
期刊：
影响因子：
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通讯作者：
Z-J Yang;Y. Shibuya;Pan Qin
中科院分区：
文献类型：
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作者：
Z-J Yang;Y. Shibuya;Pan Qin
在本文中，我们提出了一种分布式鲁棒控制方法同步跟踪多个欧拉-拉格朗日系统，时变参考轨迹发送到只有一个子集的代理。它是假设代理可以交换信息与他们的本地邻居上的无向连接的通信图。控制器不仅分布在网络上，而且分散在每个代理内的每个广义坐标。进行了理论分析。仿真结果支持了理论分析的结果。
In this paper, we propose a distributed robust control method for synchronized tracking of multiple Euler-Lagrange systems, where the time-varying reference trajectory is sent to only a subset of the agents. It is assumed that the agents can exchange information with their local neighbors on an undirectionally connected communication graph. The controllers are not only distributed on the network, but also decentralized for each generalized coordinate within each agent. Theoretical analysis is performed. And simulation results are provided to support the theoretical results.