联合连通时变时延网络中多EL系统协调控制

Consensus for Multiple Euler–Lagrange Systems with Varying Time-delay and Jointly Connected Topologies

针对非线性Euler-Lagrange(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。针对时变时延网络设计控制器,通过构造Lyapunov-Krasovskii函数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。

In this paper, the consensus problem of networked Euler-Lagrange(EL)systems with jointly connected topologies and time delay is studied. The heterogeneous connected and isolated EL agents are considered in a unified framework. The state difference of connected agents with neighbors is regarded as inputs. The current state and past state difference of isolated agents is regarded as inputs. Lyapunov-Krasovskii is used to prove the stability of the proposed controllers. Numerical simulation results are also presented to illustrate the effectiveness of the controllers.