采用速度观测器的多Euler-Lagrange系统一致性跟踪控制

Velocity observer based distributed consensus tracking control for multiple Euler-Lagrange systems

本文针对无向图拓扑网络下的多Euler-Lagrange系统,设计了一种分布式跟踪控制策略.在只有部分智能体能够获取领航智能体信息,且各Euler-Lagrange系统模型未知的情况下,针对领航智能体速度恒定和时变两种情况进行研究,分别设计相应观测器实现了对领航者速度的观测,且观测值的导数连续,并给出了观测器收敛的充分条件.控制器由两部分组成:第1部分是一个神经网络系统的输出,以逼近系统的未知非线性环节,第2部分是一个鲁棒项,以消除逼近误差与系统外部扰动的影响,保证控制量的连续性.采用Lyapunov理论证明了闭环系统的稳定性,通过仿真验证了本文所提算法的有效性.

A distributed coordinated tracking control strategy is proposed for Euler-Lagrange systems under undirected topology.The proposed strategy allows that only a subset of the follower agents have access to the desired trajectory.Both the cases when the generated coordinate derivatives of the leader agent is constant and varying are considered.An observer is produced with the continuous estimation of the acceleration,the sufficient conditions when the observer is stable are given.The controller is composed of two parts,the first part is the output of a neural network approximating the nonlinear function,the second part is a robust term to reduce the approximate error and external disturbance,which guarantees the continuous of the control input.The stability of the closed-loop system is proven by the Lyapunov theory,and simulations are also presented to illustrate the effectiveness of the controller.