Hai-Bo GUO , Hua-Yi LI , Wei-Chao ZHONG , Shi-Jie ZHANG , Xi-Bin CAO
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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.
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.