Tracking task-space synchronization of networked Lagrangian systems with switching topology

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• 作者：Liyun Zhao ; Jinchen Ji ; Jun Liu ; Quanjun Wu ; Jin Zhou
• 关键词：Tracking synchronization ; Lagrangian systems ; Switching topologies ; Task space
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：83
• 期：3
• 页码：1673-1685
• 全文大小：938 KB
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• 作者单位：Liyun Zhao (1) (2)
  Jinchen Ji (3)
  Jun Liu (1) (4)
  Quanjun Wu (5)
  Jin Zhou (1)
  
  1. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai, 200072, China
  2. School of Mathematics, Physics and Biological Engineering, Inner Mongolia University of Science and Technology, Baotou, 014010, China
  3. Faculty of Engineering and IT, University of Technology Sydney, PO Box 123, Broadway, Sydney, NSW, 2007, Australia
  4. Department of Mathematics, Jining University, Qufu, 273155, Shandong, China
  5. School of Mathematics and Physics, Shanghai University of Electric Power, Shanghai, 200090, China
  
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X

文摘

This paper investigates the tracking synchronization problem of networked Lagrangian systems with directed switching topologies in task space. A tracking synchronization protocol is developed for the systems with uncertainties in kinematic, dynamic and actuator models. The estimated parameters are updated by using three adaptive control laws to account for the uncertainties. It is found that the positions and velocities of networked Lagrangian systems can track the desired position and velocity in task space, under the condition that the graph topologies are jointly connected and balanced pointwise in time. Specifically, if the dynamic, kinematic and actuator parameters are certain, the tracking synchronization error will be exponentially convergent during a periodically intermittent interaction. Numerical examples and simulations are given to verify the theoretical analysis and demonstrate the effectiveness of the proposed control approach.