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含自时延和通信时延的Euler-Lagrange系统自适应一致性算法 被引量：4

Distributed adaptive consensus algorithm of Euler-Lagrange system with input and communication delays
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摘要 针对动力学方程中含未知参数的多Euler-Lagrange系统的一致性控制问题,设计了一种分布式自适应协调控制器.该控制器容许多Euler-Lagrange系统的通信拓扑为一般的有向图,并允许通信时延和自时延的同时存在.利用Barblata定理、Lyapunov稳定性定理和LMI方法等对控制器的稳定性进行了证明,并设计了数值仿真实验,仿真结果证明了控制算法的有效性. This paper deals with the consensus problem of networked Euler-Lagrange systems with unknown parameters.An adaptive controller is proposed which allows for the existence of input and communication delays under the directed communication topology.Barbalat’s Lemma,Lyapunov stability theorem and LMI methods are used to prove the stability of the proposed controller.Numerical simulation is also presented to demonstrate the effectiveness of the controller.
作者 刘源 王仕成 闵海波 刘志国 廖守亿
机构地区 第二炮兵工程大学
出处 《控制理论与应用》 EI CAS CSCD 北大核心 2013年第2期156-162,共7页 Control Theory & Applications
基金 国家自然科学基金资助项目(61203354)
关键词 自适应算法 一致性 自时延和通信时延 未知参数 adaptive algorithm consensus input and communication delays uncertain parameters
分类号 TP13 [自动化与计算机技术—控制理论与控制工程]
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参考文献29

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二级参考文献17

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共引文献8

同被引文献51

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引证文献4

二级引证文献14

控制理论与应用
2013年 第2期

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