Coordinated Motion Control of Networked Mechanical Systems
This paper investigates the coordinated tracking control problem for the networked mechanical systems. Firstly, we consider the tracking control problem for the networked mechanical systems with a virtual structure. Under the condition that only a subset of the follower mechanical systems have access to the states of the target or control system, we further study the cooperative tracking control problem with a leader-follower structure. Finally, the distributed tracking controller design problem without relative velocity measurements is investigated. The development in this paper is suitable for the general directed communication topology, which is only required to have a spanning tree. The simulation results show the effectiveness of the proposed control strategy.
Networked mechanical systems tracking control cooperative control
Gang Chen Yuanlong Yue
College of Automation, Chongqing University, Chongqing, 400044
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
2490-2495
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）