Co op erative Tracking Control for Networked Lagrange Systems：Algorithms and Exp eriments

作     者：CHEN Gang YUE Yuan-Long LIN Qing 

作者机构：College of Automation Chongqing University Chongqing 400044 China 

出 版 物：《自动化学报》 (Acta Automatica Sinica)

年 卷 期：2014年第40卷第11期

页      面：2563-2572页

核心收录：

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080101[工学-一般力学与力学基础] 080201[工学-机械制造及其自动化] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by National Natural Science Foundation of China (61273108)  the Scientific Research Foundation for the Returned Overseas Chinese Scholars  State Education Ministry  the Fundamental Research Funds for the Central Universities (106112013CD- JZR175501) 

主　　题：拉格朗日系统 控制网络系统 跟踪问题 控制算法 进出口 商业 参数不确定性 自适应控制器 

摘      要：This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties. Distributed adaptive controllers are proposed with the aid of Lyapunov techniques. Compared with the previous work in the context of networked Lagrange systems control, the results in this paper are suitable for the general digraph communication topologies. Under the condition that the desired trajectory is only available to a portion of Lagrange systems, we discuss the cooperative tracking problem with general digraph communication topology, which contains a spanning tree with the root node being the active target system. Under the case where the neighbor s velocity is unavailable, a distributed filter is introduced to overcome this deficiency. Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.