时延网络中 Euler-Lagrange 系统的分布式自适应协调控制

摘要

对一类含未知参数的Euler-Lagrange系统协调控制问题进行了研究,提出了一种自适应控制算法.该算法容许通信网络为最一般的伪强连通图,并允许通信时延的存在.对系统中领航者为静态和动态两种情况分别进行了研究,设计了相应的控制器.研究结果表明,在仅有部分个体能够和领航者进行通信的情况下,控制器能保证网络中其他个体最终和领航者趋于一致.运用Lyapunov稳定性定理和Barbalat定理等对自适应控制器的稳定性进行了证明,并利用数值仿真验证了算法的有效性.%This paper studies coordination control of networked Euler-Lagrange systems with communication time delay and unknown parameters. An adaptive controller is proposed which allows for the most general quasi-strongly connected communication topology with communication delay. We design a distributed controller for the case where a stationary leader exists. We also discuss the case of a dynamic leader. It is shown that the proposed controllers can guarantee cooperative synchronization even if only partial agents have access to the leader. Lyapunov stability theorem and Barbalat's Lemma are used to prove the stability of the proposed controllers. Numerical simulation is also presented to illustrate the effectiveness of the controller.