复杂动态网络可以认为是由“节点子系统”和“连接边子系统”相互耦合而成的。本文首先采用两个向量微分方程来分别对两个子系统进行了建模,并且给出了网络实现二阶跟踪控制的定义。进一步给出了本文的控制目标,通过设计相应的二阶跟踪...复杂动态网络可以认为是由“节点子系统”和“连接边子系统”相互耦合而成的。本文首先采用两个向量微分方程来分别对两个子系统进行了建模,并且给出了网络实现二阶跟踪控制的定义。进一步给出了本文的控制目标,通过设计相应的二阶跟踪控制方案最终不仅可以使得网络中的节点实现位置跟踪,同时其也能按理想的速度来实现跟踪。最后,通过一个双连杆机器人机械臂的仿真实例对所提控制方案的有效性进行了验证。The complex dynamic network can be considered as being formed by the mutual coupling of “nodes subsystem” and “links subsystem”. In this paper, two vector differential equations are first used to model the two subsystems separately, and the definition of second-order tracking control for the network is provided. Furthermore, the control objective of this paper is presented. By designing an appropriate second-order tracking control scheme, the nodes in the network can achieve not only position tracking but also tracking at the desired speed. Finally, the effectiveness of the proposed control scheme is validated through a simulation example of a two-link robotic manipulator.展开更多
文摘复杂动态网络可以认为是由“节点子系统”和“连接边子系统”相互耦合而成的。本文首先采用两个向量微分方程来分别对两个子系统进行了建模,并且给出了网络实现二阶跟踪控制的定义。进一步给出了本文的控制目标,通过设计相应的二阶跟踪控制方案最终不仅可以使得网络中的节点实现位置跟踪,同时其也能按理想的速度来实现跟踪。最后,通过一个双连杆机器人机械臂的仿真实例对所提控制方案的有效性进行了验证。The complex dynamic network can be considered as being formed by the mutual coupling of “nodes subsystem” and “links subsystem”. In this paper, two vector differential equations are first used to model the two subsystems separately, and the definition of second-order tracking control for the network is provided. Furthermore, the control objective of this paper is presented. By designing an appropriate second-order tracking control scheme, the nodes in the network can achieve not only position tracking but also tracking at the desired speed. Finally, the effectiveness of the proposed control scheme is validated through a simulation example of a two-link robotic manipulator.
