欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
基于一致性理论,在有向图中研究网络Euler-Lagrange系统的协调跟踪控制.所有跟随智能体的动力学模型均为Euler-Lagrange方程.在仅有部分跟随智能体能获取领航智能体信息的情形下,同时考虑系统模型的参数不确定性,设计分布式自适应控制律实现所有跟随智能体对领航智能体的跟踪.针对领航智能体的运动状态,考虑以下两种情形：1）领航智能体为固定点;2）领航智能体为动态点.对第一种情形,设计的控制律使得所有跟随智能体渐近交会于固定点;对第二种情形,首先对每个跟随智能体设计分布式连续估计器,然后提出了分布式自适应控制律.当每个跟随智能体均能获取领航智能体的加速度信息时,设计的控制律能实现对领航智能体的渐近跟踪,当跟随智能体不能获取领航智能体的加速度信息时,跟踪误差是有界的.最后通过仿真分析验证设计的控制算法是合理有效的.
英文摘要：
In this paper,we study a distributed coordinated tracking problem for networked Euler-Lagrange systems under a directed graph based on consensus theory.The purpose is for a team of followers modeled by Euler-Lagrange equations in the presence of parametric uncertainties to track a leader under the constraint that only a subset of the followers can receive the information of the leader.We consider two cases：1） the leader is a stationary point;2） the leader is a moving point.In the first case,we propose a distributed adaptive control algorithm,by which all followers can rendezvous at the stationary point asymptotically.In the second case,we propose a distributed continuous estimator and a distributed adaptive control algorithm.We show that with the proposed control algorithm,all followers can track the dynamic leader asymptotically if the acceleration of the leader is known to each follower,and we give a bound of the tracking error if the acceleration of the leader is unknown.Simulation results are provided to show the effectiveness of the proposed control algorithms.
同期刊论文项目
同项目期刊论文
Adaptive backstepping fault-tolerant control for flexible spacecraft with unknown bounded disturbanc
Neural network-based adaptive attitude tracking control for flexible spacecraft with unknown high-fr
Sliding mode attitude control with L 2 -gain performance and vibration reduction of flexible spacecr
Design of robust adaptive integral variable structure attitude controller with application to flexib
Input shaping and variable structure control for simultaneous precision positioning and vibration re
Robust adaptive sliding mode attitude maneuvering and vibration damping of three-axis-stabilized fle
A composite control scheme for attitude maneuvering and elastic mode stabilization of flexible space
Fault-tolerant attitude control for flexible spacecraft without angular velocity magnitude measureme
L-2 Disturbance Attenuation Control for Input Saturated Spacecraft Attitude Stabilization without An
Robust finite-time control allocation in spacecraft attitude stabilization under actuator misalignme
Robust adaptive attitude tracking control with L2 -gain performance and vibration reduction of an or
Intelligent proportional-derivative control for flexible spacecraft attitude stabilization with unkn
Adaptive sliding mode fault tolerant attitude tracking control for flexible spacecraft under actuato
Adaptive nonlinear proportional-derivative type fault tolerant control for flexible spacecraft attit
Adaptive fault tolerant control using integral sliding mode strategy with application to flexible sp
Reaction wheel fault tolerant control for spacecraft attitude stabilization with finite-time converg
Finite-time fault tolerant attitude control for over-activated spacecraft subject to actuator misali
Adaptive integral-type sliding mode control for spacecraft attitude maneuvering under actuator stuck
Robust fault tolerant control for spacecraft attitude stabilization under actuator faults and bounde
期刊信息
位置：