分布式多机械系统的协调控制器设计

Cooperative controller design for distributed mechanical systems

针对有向通信拓扑下的不确定多机械系统,分别研究了分布式调节控制问题和分布式跟踪控制问题.对于强连通拓扑下的不确定多机械系统,采用自适应方法,设计了分布式调节控制器,实现网络化多机械系统的同步控制;对具有领航者的分布式多机械系统,采用李雅普诺夫方法,设计了分布式跟踪控制器,实现了网络化多机械系统的跟踪控制.最后对网络化多机械手的分布式调节与跟踪控制进行了仿真研究.仿真结果表明了算法的有效性.

The distributed regulating and tracking control problems for uncertain multi-mechanical systems on digraphs were studied. By applying the adaptive method, distributed regulating controllers were proposed to achieve synchronization for uncertain multi-mechanical systems with strongly connected topology. By employing the Lyapunov method, distributed tracking controllers were presented to achieve tracking coordination for networked mechanical systems with a leader system. As an illustration of our results, the regulating and tracking control problems for the networked manipulator systems were also studied. The simulation results show the effectiveness of the proposed algorithms.