具有有向交换拓扑的网络欧拉-拉格朗日系统的自适应同步

Q2 Computer Science 自动化学报 Pub Date : 2014-11-01 DOI:10.1016/S1874-1029(14)60399-2
Hai-Bo GUO , Hua-Yi LI , Wei-Chao ZHONG , Shi-Jie ZHANG , Xi-Bin CAO
{"title":"具有有向交换拓扑的网络欧拉-拉格朗日系统的自适应同步","authors":"Hai-Bo GUO ,&nbsp;Hua-Yi LI ,&nbsp;Wei-Chao ZHONG ,&nbsp;Shi-Jie ZHANG ,&nbsp;Xi-Bin CAO","doi":"10.1016/S1874-1029(14)60399-2","DOIUrl":null,"url":null,"abstract":"<div><p>In this paper, the cooperative control problem of networked Euler-Lagrange systems with parametric uncertainties and unidirectional interaction is addressed under dynamically changing topology. As the communication graph evolves over time, a distributed control law via local effective interactions is designed. Adaptive techniques are used to deal with parametric uncertainties in the dynamics. With a continuous Lyapunov function, it is obtained that synchronization can still be achieved asymptotically as long as the union graph of the switching topologies has a directed spanning tree frequently enough. Extensions to disturbance rejection problems are also addressed using simple disturbance-observer or sliding mode control scheme. Illustrative examples with comparing simulation in the context of attitude synchronization of five non-identical spacecraft are further presented to show the effectiveness of the proposed cooperative control strategy.</p></div>","PeriodicalId":35798,"journal":{"name":"自动化学报","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/S1874-1029(14)60399-2","citationCount":"14","resultStr":"{\"title\":\"Adaptive Synchronization of Networked Euler-Lagrange Systems with Directed Switching Topology\",\"authors\":\"Hai-Bo GUO ,&nbsp;Hua-Yi LI ,&nbsp;Wei-Chao ZHONG ,&nbsp;Shi-Jie ZHANG ,&nbsp;Xi-Bin CAO\",\"doi\":\"10.1016/S1874-1029(14)60399-2\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>In this paper, the cooperative control problem of networked Euler-Lagrange systems with parametric uncertainties and unidirectional interaction is addressed under dynamically changing topology. As the communication graph evolves over time, a distributed control law via local effective interactions is designed. Adaptive techniques are used to deal with parametric uncertainties in the dynamics. With a continuous Lyapunov function, it is obtained that synchronization can still be achieved asymptotically as long as the union graph of the switching topologies has a directed spanning tree frequently enough. Extensions to disturbance rejection problems are also addressed using simple disturbance-observer or sliding mode control scheme. Illustrative examples with comparing simulation in the context of attitude synchronization of five non-identical spacecraft are further presented to show the effectiveness of the proposed cooperative control strategy.</p></div>\",\"PeriodicalId\":35798,\"journal\":{\"name\":\"自动化学报\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1016/S1874-1029(14)60399-2\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"自动化学报\",\"FirstCategoryId\":\"1093\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1874102914603992\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Computer Science\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"自动化学报","FirstCategoryId":"1093","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1874102914603992","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Computer Science","Score":null,"Total":0}
引用次数: 14

摘要

研究了动态变化拓扑下具有参数不确定性和单向相互作用的网络化欧拉-拉格朗日系统的协同控制问题。根据通信图随时间的变化,设计了基于局部有效交互的分布式控制律。采用自适应技术处理动力学中的参数不确定性。利用连续Lyapunov函数,得到了只要交换拓扑的并图具有足够频繁的有向生成树,同步仍然可以渐近实现。扩展干扰抑制问题也解决了使用简单的干扰观测器或滑模控制方案。最后,通过五颗非同位航天器姿态同步的对比仿真,验证了所提协同控制策略的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Adaptive Synchronization of Networked Euler-Lagrange Systems with Directed Switching Topology

In this paper, the cooperative control problem of networked Euler-Lagrange systems with parametric uncertainties and unidirectional interaction is addressed under dynamically changing topology. As the communication graph evolves over time, a distributed control law via local effective interactions is designed. Adaptive techniques are used to deal with parametric uncertainties in the dynamics. With a continuous Lyapunov function, it is obtained that synchronization can still be achieved asymptotically as long as the union graph of the switching topologies has a directed spanning tree frequently enough. Extensions to disturbance rejection problems are also addressed using simple disturbance-observer or sliding mode control scheme. Illustrative examples with comparing simulation in the context of attitude synchronization of five non-identical spacecraft are further presented to show the effectiveness of the proposed cooperative control strategy.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自动化学报
自动化学报 Computer Science-Computer Graphics and Computer-Aided Design
CiteScore
4.80
自引率
0.00%
发文量
6655
期刊介绍: ACTA AUTOMATICA SINICA is a joint publication of Chinese Association of Automation and the Institute of Automation, the Chinese Academy of Sciences. The objective is the high quality and rapid publication of the articles, with a strong focus on new trends, original theoretical and experimental research and developments, emerging technology, and industrial standards in automation.
期刊最新文献
Robust Approximations to Joint Chance-constrained Problems A Chebyshev-Gauss Pseudospectral Method for Solving Optimal Control Problems Forward Affine Point Set Matching Under Variational Bayesian Framework SAR Image Despeckling by Sparse Reconstruction Based on Shearlets A semi-supervised agglomerative hierarchical clustering method based on dynamically updating constraints
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1