A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques
A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques
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DOI：
10.23919/acc55779.2023.10156384
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发表时间：
2023-05
期刊：
影响因子：
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通讯作者：
Yong Ding;H. Wang;Jie Mei;W. Ren
中科院分区：
文献类型：
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作者：
Yong Ding;H. Wang;Jie Mei;W. Ren
研究了具有参数不确定性的网络化拉格朗日系统的分布式时变优化问题。由于在控制力矩设计中使用了正负号函数，现有的网络化拉格朗日智能体分布式时变优化算法在实现时可能存在抖振。为此，我们设计了一个分布式优化算法，能够产生连续的控制力矩，实现精确的最优跟踪。仿真结果验证了该算法的有效性。
In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.