带有输入和通信延迟的EL系统分布式自适应协调控制

Distributed Adaptive Coordinated Algorithm of EL System with Input and Communication Delays

针对带有不确定参数与各种时间延迟的网络化欧拉-拉格朗日系统(EL)协调控制问题,基于图论相关理论,运用李亚普诺夫稳定性理论和频域分析方法设计了一种自适应协调控制器,本文给出的考虑参数不确定性、输入延迟和输出延迟的协调控制算法是在一个统一的理论架构下进行推导的,该协调控制算法允许不确定参数与时间延迟的存在。设计数值仿真验证了协调控制器的有效性,仿真表明,本文给出的协调控制算法能够很好地实现控制目标,EL系统的收敛条件取决于输入延迟量。

This paper considers coordinated control of network Euler- Lagrange system（EL） with uncertain parameters and various time delays. An adaptive coordination controller is designed based on graph theory, lyapunov stability theory and frequency domain analysis method. Coordinated control algorithm is derived in a unified theoretical framework considering parameter uncertainties, input delay and output delay. The coordinated control algorithm allows the uncertain parameters and time delay.Effectiveness of coordination controller is illustrated by the numerical simulation. Simulations show that coordinated control algorithm presented can achieve a good control objectives. Study has shown that the convergence condition of EL system depends on the input delay.