| 引用本文: | 刘源,王仕成,闵海波,刘志国,廖守亿.无领航者的多Euler-Lagrange系统有限时间一致性算法[J].控制理论与应用,2014,31(1):93~99.[点击复制] |
| LIU Yuan,WANG Shi-cheng,MIN Hai-bo,LIU Zhi-guo,LIAO Shou-yi.Decentralized Finite Time Leaderless Consensus Algorithm for Networked Euler-Lagrange Systems[J].Control Theory and Technology,2014,31(1):93~99.[点击复制] |
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| 无领航者的多Euler-Lagrange系统有限时间一致性算法 |
| Decentralized Finite Time Leaderless Consensus Algorithm for Networked Euler-Lagrange Systems |
| 摘要点击 3481 全文点击 2185 投稿时间：2013-03-19 修订日期：2013-10-02 |
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| DOI编号 10.7641/CTA.2014.30222 |
| 2014,31(1):93-99 |
| 中文关键词 协调控制, 有限时间稳定性, Euler-Lagrange系统, 一致性 |
| 英文关键词 coordination control finite-time stability Euler-Lagrange systems consensus |
| 基金项目 国家自然科学基金资助项目(61203354). |
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| 中文摘要 |
| 本文针对无领航者的多Euler-Lagrange系统, 设计了一种分布式有限时间一致性控制算法. 该算法只利用相邻个体的位置信息和自身的速度信息作为输入, 使得网络化Euler-Lagrange系统在有限时间内达到一致性. 考虑到闭环Euler-Lagrange系统的非自主性, 运用Matrosov定理、Lyapunov稳定性定理和有限时间稳定性定理等对所设计的控制器的稳定性进行了证明, 并进行了数值仿真实验，验证了控制器的有效性. |
| 英文摘要 |
| This paper considers finite time consensus problem of networked Euler-Lagrange systems. For each agent, finite time consensus algorithm is designed by using the position information of its neighbors and the velocity information of its own. Because the closed-loop networked Euler-Lagrange equations are non-autonomous, we need to use Matrosov’s theorem, Lyapunov stability theorem and the finite-time stability theory for convergence analysis. Numerical simulation is conducted to validate the effectiveness of the controller. |