Impulsive tracking control and synchronization of networked Lagrangian systems and application to multiple robots
A decentralized impulsive tracking control law is proposed to investigate thesynchronization of ring and inline networked Lagrangian systems. Some algebraic generic criteriaare derived to guarantee state synchronization as well as trajectory tracking. In contrast with priorwork, a distinctive feature of our work is that the impulsive control scheme is used to investigate thehighly nonlinear Lagrangian systems. Different from the existing works, the networked Lagrangiansystems can be connected only at some discrete moments instead of continuous time, therebyfacilitating implementation in real systems. As a direct application of the new theoretical results, thecooperative tracking control and synchronization of multiple 3-DOF mobile robots are discussed indetail and simulated. Simulation results verify the effectiveness of the proposed control technique.
Networked Lagrangian systems Impulsive tracking control State synchronization Trajectory tracking
Mihua Ma Jin Zhou
Shanghai Institute of Applied Mathematics and Mechanics,Shanghai University Shanghai 200072,China
国内会议
第十三届现代数学和力学学术会议(MMM-XIII)暨钱伟长诞辰100周年纪念大会
上海
英文
1-6
2012-10-05（万方平台首次上网日期，不代表论文的发表时间）