论文标题
网络机械系统的分布式形成控制
Distributed formation control of networked mechanical systems
论文作者
论文摘要
本文研究了针对机械系统大规模网络的分布式编队跟踪控制法。特别是，编队网络由与领导者和追随者的有向通信图表示，在该图形中，每个代理都被描述为具有恒定质量矩阵的港口 - 哈米尔顿系统。此外，我们采用了分布式参数方法来证明网络形成的可扩展渐近稳定性，即相对于网络大小和特定形成保存的可扩展性。模拟案例说明了提出的控制方法的有效性。
This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.
