Robust Synchronization Control of Switched Networked Euler–Lagrange Systems
Robust Synchronization Control of Switched Networked Euler–Lagrange Systems
复制标题
切换网络欧拉-拉格朗日系统的鲁棒同步控制
DOI：
10.1109/tcyb.2020.3031009
复制
发表时间：
2020-12
影响因子：
11.8
通讯作者：
Maobin Lu;Lu Liu
中科院分区：
文献类型：
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作者：
Maobin Lu;Lu Liu
在本文中，我们解决了受干扰、网络延迟和均匀连接交换网络影响的网络不确定欧拉-拉格朗日系统的同步问题。与现有工作相比，当前的问题设置更加实用，技术上更具挑战性。首先，为了解决开关网络下的干扰，我们建立一个引理来显示分段连续函数的收敛性。然后，我们建立了一类扰动时滞系统的输入状态稳定性（ISS）属性，以通过延迟和交换网络通信实现系统矩阵和领导系统输出矩阵的分布式估计。基于确定性等价原理，我们设计了自适应分布式控制律。四个三连杆圆柱臂的同步控制用于证明该方法的有效性。
In this article, we address the synchronization problem of networked uncertain Euler–Lagrange systems subject to disturbances, network delays, and uniformly connected switching networks. Compared with existing works, the current problem setting is more practical and technically more challenging. First, to tackle the disturbances under switching networks, we establish one lemma to show the convergence of a piecewise continuous function. Then, we establish the input-to-state stability (ISS) property of a class of perturbed time-delay systems to enable the distributed estimation of the system matrix and the output matrix of the leader system through delayed and switched network communication. Based on the certainty equivalence principle, we design an adaptive distributed control law. The synchronization control of four three-link cylindrical arms is used to demonstrate the effectiveness of the proposed approach.