联合连通恒定时延网络中多EL系统协调控制

Coordination control of multiple EL system in joint connection and constant time-delay network

针对非线性EL系统中通信时延和网络切换并存的情形,在把网络化EL系统分为连通个体和孤立个体两种类型的控制架构中,分别对这两种个体设计不同的协调控制律,连通个体将自身与邻居个体的状态差作为输入,孤立个体将其自身目前状态与过去状态差作为输入。针对恒定时延网络设计控制器,基于共同Lyapunov方法对系统稳定性进行了证明。设计数值仿真实验,验证了算法的有效性。

For the concurrent situation of communication time-delay and network switching in nonlinear EL system, the net- worked EL system is divided into two control architectures of connected individual and isolate individual. The different coordina- tion control laws of the two individuals were designed respectively. The state difference of the connected individual itself and neighbor individual is taken as the input, and the difference of current state and past state difference of the isolate individual it- self as the input. For the controller designed for the constant time-delay network, the system stability is proved with common Lyapunov method. The effectiveness of the algorithm is verified by numerical simulation experiment.