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Networked Euler-Lagrangian Systems Synchronization under Time-Varying Communicating Delays

机译：时变通信时滞下的网络化Euler-Lagrangian系统同步

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摘要

This paper investigates the problem of the task-space synchronization control for networked Euler-Lagrange systems. In the considered systems, there are time-varying delays existing in the networking links and every subsystem contains uncertainties in both kinematics and dynamics. By adding new time-varying coupling gains, the negative effects caused by time-varying delays are eliminated. Moreover, to address the difficulties of parametric calibration, an adaptively synchronous protocol and adaptive laws are designed to online estimate kinematics and dynamic uncertainties. Through a Lyapunov candidate and a Lyapunov-Krasovskii functional, the asymptotic convergences of tracking errors and synchronous errors are rigorously proved. The simulation results demonstrate the proposed protocol guaranteeing the cooperative tracking control of the uncalibrated networked Euler-Lagrange systems in the existence of time-varying delays.
机译：本文研究了网络化的Euler-Lagrange系统的任务空间同步控制问题。在所考虑的系统中，网络链路中存在时变延迟，并且每个子系统在运动学和动力学方面都存在不确定性。通过增加新的时变耦合增益，消除了因时变延迟引起的负面影响。此外，为了解决参数校准的困难，设计了一种自适应同步协议和自适应定律来在线估计运动学和动态不确定性。通过Lyapunov候选和Lyapunov-Krasovskii泛函，严格证明了跟踪误差和同步误差的渐近收敛性。仿真结果表明，所提出的协议可以保证在存在时变时延的情况下，对未校准的网络化Euler-Lagrange系统进行协同跟踪控制。

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