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首页> 外文期刊>Systems and Control Letters >Fully distributed adaptive sliding-mode controller design for containment control of multiple Lagrangian systems
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Fully distributed adaptive sliding-mode controller design for containment control of multiple Lagrangian systems

机译：用于多个拉格朗日系统的密闭控制的全分布式自适应滑模控制器设计

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In this paper, we study the containment control problem for multiple Lagrangian systems with multiple dynamic leaders in the presence of parametric uncertainties and external disturbances with fully distributed controllers under an undirected graph. We first propose a fully distributed adaptive slidingmode control algorithm combined with distributed sliding-mode estimators, without requiring the upper bounds of the derivatives of the leaders’ states and any other global information to be known by each follower. To reduce the effect on the varying gain during the adaption mainly caused by the initial error, fully distributed adaptive time-varying sliding-mode control is presented for controller design. To tackle the chattering effect caused by the discontinuous controller, we further propose a fully distributed continuous adaptive controller, under which both the containment errors and the adaptive gains are ultimately bounded. Simulation results are given to illustrate the theoretical results.
机译：在本文中，我们研究了在无向图下具有参数分布不确定性和外部干扰的情况下，具有完全动态控制器的具有多个动态先导的多个拉格朗日系统的控制问题。我们首先提出一种完全分布式的自适应滑模控制算法，该算法与分布式滑模估计器相结合，而无需领导人的导数和每个跟随者都知道的任何其他全局信息的上限。为了减少主要由初始误差引起的对自适应增益变化的影响，提出了一种全分布式自适应时变滑模控制方法。为了解决由不连续控制器引起的颤动效应，我们进一步提出了一种完全分布式的连续自适应控制器，在该控制器下，包含误差和自适应增益都最终受到限制。仿真结果说明了理论结果。

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