切换网络拓扑下Euler-Lagrange系统的分布式协调控制(英文)  

Coordination Control of Networked Euler-Lagrange Systems with Possible Switching Topology

作　　者：MIN Hai-Bo LIU Zhi-Guo LIU Yuan WANG Shi-Cheng YANG Yan-Li 

机构地区：[1]Hi-Tech Institute of Xi'an

出　　处：《自动化学报》2013年第7期1003-1010,共8页Acta Automatica Sinica

基　　金：Supported by National Natural Science Foundation of China(61203354,61004021,61174069);National Basic Research Program of China(973 Program)(2012CB821206);Beijing Natural Science Foundation(4122037);the Ph.D.Programs Foundation of Ministry of Education of China(20110002110015)

摘　　要：This paper studies adaptive coordination control of Euler-Lagrange (EL) systems with unknown parameters in systemdynamics and possible switching topology.By introducing a novel adaptive control architecture,decentralized controllers are developed,which allow for parametric uncertainties.Based upon graph theory,Lyapunov theory and switching control theory,the stability of the proposed algorithms are demonstrated.A distinctive feature of this work is to address the coordination control of EL systems with unknown parameters and switching topology in a unified theoretical framework.It is shown that both static and dynamic coordinations can be reached even when the communication is switching.Simulation results are provided to demonstrate the effectiveness of the obtained results.This paper studies adaptive coordination control of Euler-Lagrange（EL）systems with unknown parameters in system dynamics and possible switching topology.By introducing a novel adaptive control architecture,decentralized controllers are developed,which allow for parametric uncertainties.Based upon graph theory,Lyapunov theory and switching control theory,the stability of the proposed algorithms are demonstrated.A distinctive feature of this work is to address the coordination control of EL systems with unknown parameters and switching topology in a unified theoretical framework.It is shown that both static and dynamic coordinations can be reached even when the communication is switching.Simulation results are provided to demonstrate the effectiveness of the obtained results.

关 键 词：拉格朗日系统 拓扑网络 协调控制 开关 欧拉 自适应控制 动力学参数 分散控制器 

分 类 号：O157.5[理学—数学] O231[理学—基础数学]