Distributed tracking control of networked chained systems
Distributed tracking control of networked chained systems
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DOI：
10.1080/00207179.2013.803156
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发表时间：
2013-11
影响因子：
2.1
通讯作者：
Wenjie Dong
中科院分区：
文献类型：
--
作者：
Wenjie Dong
本文考虑使用邻居信息对多个非完整链式系统进行分布式跟踪控制。借助每个系统的级联结构和持续激励信号的特性，提出了分布式状态反馈跟踪控制器和分布式输出反馈跟踪控制器，使得跟踪误差指数收敛到零。为了展示所提出的结果的应用，考虑了轮式移动机器人的编队控制。借助所提出的定理获得了分布式控制器。仿真结果验证了所提结果的有效性。
This paper considers distributed tracking control of multiple nonholonomic chained systems using neighbours’ information. With the aid of the cascade structure of each system and properties of persistently excited signals, distributed state feedback tracking controllers and distributed output feedback tracking controllers are proposed such that the tracking errors exponentially converge to zero. To show applications of the proposed results, formation control of wheeled mobile robots is considered. Distributed controllers are obtained with the aid of the proposed theorems. Simulation results verify the effectiveness of the proposed results.