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Distributed Global Output-Feedback Control for a Class of Euler–Lagrange Systems

机译：一类欧拉-拉格朗日系统的分布式全局输出反馈控制

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摘要

This paper investigates the distributed tracking control problem for a class of Euler-Lagrange multiagent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong nonlinearity in unmeasurable states pose severe technical challenges to global output-feedback control design. To overcome these difficulties, a global nonsingular coordinate transformation matrix in the upper triangular form is first proposed such that the nonlinear dynamic model can be partially linearized with respect to the unmeasurable states. And, a new type of velocity observers is designed to estimate the unmeasurable velocities for each system. Then, based on the outputs of the velocity observers, we propose distributed control laws that enable the coordinated tracking control system to achieve uniform global exponential stability. Both theoretical analysis and numerical simulations are presented to validate the effectiveness of the proposed control scheme.
机译：当一类代理只能测量位置时，本文研究了一类Euler-Lagrange多代理系统的分布式跟踪控制问题。在这种情况下，分离原理的缺乏和不可测状态下的强非线性会给全局输出反馈控制设计带来严峻的技术挑战。为了克服这些困难，首先提出了上三角形式的全局非奇异坐标变换矩阵，使得非线性动力学模型可以相对于不可测状态部分线性化。并且，设计了一种新型的速度观测器来估计每个系统的不可测量的速度。然后，基于速度观测器的输出，我们提出了分布式控制律，使协调跟踪控制系统能够实现统一的全局指数稳定性。进行了理论分析和数值模拟，以验证所提出的控制方案的有效性。

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  • 来源
    《IEEE Transactions on Automatic Control》 |2017年第9期|4855-4861|共7页
  • 作者

    Qingkai Yang; Hao Fang; Jie Chen; Zhong-Ping Jiang; Ming Cao;

  • 作者单位

    School of Automation, Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    School of Automation, Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    School of Automation, Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China;

    Department of Electrical and Computer Engineering, Polytechnic School of Engineering, New York University, Brooklyn, NY, USA;

    Faculty of Science and Engineering, ENTEG, University of Groningen, Groningen, The Netherlands;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Robot kinematics; Observers; Manipulator dynamics; Velocity measurement; Symmetric matrices;

    机译：机器人运动学;观察者;机械手动力学;速度测量;对称矩阵;

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