期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 28, 期 11, 页码 3606-3622出版社
WILEY
DOI: 10.1002/rnc.4102
关键词
adaptive synchronization control; distributed observer; networked robot systems
资金
- National Natural Science Foundation of China (NSFC) [61603050, 61327807, 61521091, 61520106010, 61320106006, 61532006]
- Fundamental Research Funds for the Central Universities
This paper addresses the adaptive synchronization control problem of networked robot systems characterized by the Lagrangian function, where exact dynamic models are unknown and velocity measurements are unavailable. A class of distributed observers, comprised of multiple dynamic variables and static variables, are established based on no a priori restriction on the boundness of the observer states. The observer is compatible for different control schemes with or without structure uncertainties. Using the estimated states given by the observer, adaptive distributed control input is developed, and then, closed-loop dynamic models for filtered vectors are established. It is proven that our proposed control scheme permits global exact state estimation and global asymptotic synchronization while compensating for structure uncertainties. Simulations are provided to demonstrate the effectiveness of the results.
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