Distributed Tracking of a Class of Underactuated Lagrangian Systems With Uncertain Parameters and Actuator Faults
Distributed Tracking of a Class of Underactuated Lagrangian Systems With Uncertain Parameters and Actuator Faults
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DOI：
10.1109/tie.2019.2922943
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发表时间：
2020-05-01
影响因子：
7.7
通讯作者：
Shan, Jinjun
中科院分区：
文献类型：
--
作者：
Chen, Ti;Shan, Jinjun
针对一类欠驱动Lagrangian系统，提出了一种分布式自适应控制器，使驱动变量跟踪动态领导者，而非驱动变量在有向通信图下保持有界.引入有限时间观测器来估计领导者的速度。基于为致动和非致动通道定义的两个滑动变量，针对具有不确定参数和外部干扰的欠致动拉格朗日系统（无执行器故障或有执行器故障）设计了自适应控制器。基于观测器与控制器分离的原理，证明了所提出的控制器的收敛性。最后，仿真和实验验证了所提出的控制器的有效性。
A distributed adaptive controller is proposed in this paper for a class of underactuated Lagrangian systems to control the actuated variables to track a dynamic leader and keep unactuated ones bounded under a directed communication graph. A finite-time observer is introduced to estimate the leader's velocity. Based on two sliding variables defined for the actuated and unactuated channels, adaptive controllers are designed for the underactuated Lagrangian systems subject to uncertain parameters and external disturbances without or with actuator faults. The convergences of the proposed controllers are proven based on the separation principle between the observer and the controller. Finally, simulations and experiments are conducted to verify the effectiveness of the proposed controllers.