2017年8月
Task-Space Synchronization of Networked Mechanical Systems With Uncertain Parameters and Communication Delays
IEEE TRANSACTIONS ON CYBERNETICS
- ,
- ,
- ,
- 巻
- 47
- 号
- 8
- 開始ページ
- 2288
- 終了ページ
- 2298
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1109/TCYB.2016.2597446
- 出版者・発行元
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented by a directed graph. Based on a novel coordination auxiliary system, we first extend existing feedback architecture to achieve synchronization of networked mechanical systems in task space with slow-varying delays. Given that abrupt turns arise for the delays sometimes, we then propose a delay-independent adaptive synchronization control scheme which removes the requirement of the slow-varying condition. Both of the two control schemes are established with time-domain approaches by using Lyapunov-Krasovskii functions. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.
- リンク情報
- ID情報
-
- DOI : 10.1109/TCYB.2016.2597446
- ISSN : 2168-2267
- eISSN : 2168-2275
- Web of Science ID : WOS:000405458200045