Tracking Synchronization of Networked Lagrangian Systems via Impulsive Control and Its Applications
Tracking Synchronization of Networked Lagrangian Systems via Impulsive Control and Its Applications
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DOI：
10.1007/s11424-019-7389-8
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发表时间：
2019-08
影响因子：
2.1
通讯作者：
Weiqiang She;Mihua Ma
中科院分区：
文献类型：
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作者：
Weiqiang She;Mihua Ma
提出了一种脉冲控制方案来研究环形和串联网络拉格朗日系统的跟踪同步。给定一个时变的目标轨迹，推导出一些代数同步准则，使网络拉格朗日系统与目标轨迹同步。该工作的一个显着特点是脉冲控制方案用于研究高度非线性拉格朗日系统。通过脉冲控制，拉格朗日系统描述的每个智能体仅在某些离散时刻瞬时与其邻居交互。此外，所提出的控制策略仅需要局部耦合反馈即可实现全局收敛。作为所获得的理论结果的直接应用，对多个三自由度移动机器人的跟踪同步进行了详细讨论和仿真。仿真结果验证了所提出控制策略的有效性。
An impulsive control scheme is proposed to investigate the tracking synchronization of ring and inline networked Lagrangian systems. Given a time-varying target trajectory, some algebraic synchronization criteria are derived to make the networked Lagrangian systems synchronize to the target trajectory. A distinctive feature of the proposed work is that the impulsive control scheme is used to investigate the highly nonlinear Lagrangian systems. By the impulsive control, each agent described by the Lagrangian system instantaneously interacts with its neighbors only at some discrete moments. Furthermore, the proposed control strategy requires only local coupling feedback for global convergence. As a direct application of the obtained theoretical results, the tracking synchronization of multiple 3-DOF mobile robots is discussed in detail and simulated. Simulation results verify the effectiveness of the proposed control strategy.