Distributed Adaptive Regulation Algorithm of networked Euler-Lagrange System with Input and Communication Delays
This paper studies regulation control of networked Euler-Lagrange system with unknown parameters and various time delays. An adaptive controller is proposed based on graph theory, Lyapunov stability theory and frequency-domain analysis. A distingctive feature of this work is to address the regulation with uncertain parameters, coupling input and communication delays in a unified theoretical framework. It is shown that the consensus condition depends on input delays. Numerical simulation is also provided to illustrate the effectiveness of the controller.
Regulation Euler-Lagrange Uncertain parameters Input and communication delays Directed graph
LIU Yuan WANG Shicheng MIN Haibo LIU Zhiguo ZHANG Jinsheng SUN Dawei
High-Tech Institute of Xian, Xian, Shaanxi 710025, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
847-852
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）