基于能量整形方案实现具有通讯时滞欠驱动Euler-Lagrange网络的一致性

本文主要基于能量整形方案研究具有通讯时滞网络化欠驱动Euler-Lagrange(EL)系统的一致性问题,通过利用阻尼注入和互连分配的无源控制(PBC)技术,在有向连通网络拓扑下提出了一个简单的分布式协议,来实现在无引导者和有引导者-跟随者两种情形下欠驱动EL网络的一致性.本文提出的一致性能量整形方案的主要特点是有机地整合了系统欠驱动和驱动部分以及控制器三部分能量作为整个系统的总能量,这个总能量被利用作为一个合适的Lyapunov函数,它能够充分确保网络化欠驱动EL系统达到所期望的分布式一致性.最后,通过由欠驱动EL网络所描述柔性关节机械臂系统的数值模拟,来分析通讯时滞对一致性的效应和验证所提出控制算法的正确性.

Consensus of Networked Underactuated Euler Lagrange with Communication Delays Based on Energy Shaping Scheme

This paper studies the consensus problem of networked underactuated Euler-Lagrange (EL) systems with communication delays based on energy shaping scheme. By using damping injection and interconnection assignment of passivity based control (PBC) techniques, a simple distributed protocol in underactuated EL networks with the directed connected topology is proposed to achieve consensus in both leaderless and leader follower cases. The key feature of the proposed energy shaping scheme are to systematical integration of the energy of the actuated and underactuated parts of the system, as well as the controller for the whole system energy, which is utilized as a suitable Lyapunov function that can fully ensure the networked underactuated EL systems achieve the desired consensus. Finally, numerical simulations of the flexible joint manipulator systems described by the underactuated EL systems are performed to analyze the effect of communication delays on the consensus, and to verify the correctness of the proposed control algorithms.