期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 59, 期 1, 页码 187-193出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2013.2270053
关键词
Adaptive control; communication delays; cooperative control; small-gain theorem; synchronization
资金
- Natural Sciences and Engineering Research Council (NSERC) of Canada [RGPIN1510, RGPIN/228465-2011]
The synchronization problem of networked Euler-Lagrange systems with unknown parameters is addressed. The information flow in the network is represented by a directed communication graph and is subject to unknown and possibly discontinuous time-varying communication delays with unknown upper bounds. We propose a control scheme that achieves position synchronization, i.e., all the positions of the systems converge to a common final position, provided that the directed communication graph contains a spanning tree. The convergence analysis of the proposed scheme is based on the multidimensional small-gain framework. Simulation results on a network of ten robot manipulators are given to illustrate the effectiveness of the proposed control scheme.
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