Cooperative controller design for synchronization of networked uncertain Euler–Lagrange systems
Cooperative controller design for synchronization of networked uncertain Euler–Lagrange systems
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DOI：
10.1002/rnc.3172
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发表时间：
2015-07
影响因子：
3.9
通讯作者：
Gang Chen
中科院分区：
文献类型：
--
作者：
Gang Chen
本文研究了有向图上分布式拉格朗日系统团队在有/无动态领导者的情况下的同步问题。提出了一种系统地设计和分析分布式控制算法的方法。这篇论文的贡献是双重的。首先，针对有/无跟踪的网络化不确定拉格朗日系统的同步问题，提出了自适应协调控制协议。该协议可以保证有限时间内的同步。其次，利用李雅普诺夫方法设计了网络动态系统的分布式跟踪控制器。该开发适用于一般的有向图通信拓扑结构。仿真算例验证了所提算法的有效性。版权所有©2014 John Wiley&Sons，Ltd.
This paper addresses the synchronization problems with/without a dynamic leader for a team of distributed Lagrange systems on digraph. A systematic way to design and analyze the distributed control algorithms is presented. The contributions of the paper are twofold. First, the adaptive coordination control protocols are proposed for synchronization of networked uncertain Lagrange systems with/without tracking. This protocol can guarantee synchronization in finite time. Second, the design of the distributed tracking controller for the networked dynamic systems is proposed by using Lyapunov methods. The development is suitable for the general digraph communication topologies. Simulation examples are included to demonstrate the effectiveness of the proposed algorithms. Copyright © 2014 John Wiley & Sons, Ltd.