Coordinated control with multiple dynamic leaders for uncertain Lagrangian systems via self‐tuning adaptive distributed observer

机译：通过自调整自适应分布式观察者对不确定拉格朗日系统多动态领导的协调控制

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Summary xml:id="rnc3706-para-0001">This paper studies coordinated control of multiple Lagrangian systems with parametric uncertainties subject to external disturbances by proposing a fully distributed continuous control law based on the improved self‐tuning adaptive observer inspired by non‐identifier‐based high‐gain adaptive control technique. Under this distributed continuous control law, a group of Lagrangian systems are driven to the convex hull spanned by multiple heterogenous dynamic leaders, which can be any combination of step signals of arbitrary unknown magnitudes, ramp signals of arbitrary unknown slopes, and sinusoidal signals of arbitrary unknown amplitudes, initial phases, and any unknown frequencies. It is also worth to mention that this control law we propose, depending neither on any information of leader systems for uninformed followers, nor on external disturbances, even independent of neighbors' velocity, can achieve asymptotic tracking of multiple leaders without any additional condition instead of ensuring the ultimate boundedness of the containment error as in the literature. Copyright ? 2016 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：id =“rnc3706-abs-0001”> <标题类型=“main”>摘要</ title> < p XML：ID =“RNC3706-〜0001”>本文研究了多拉格朗日系统的协调控制，通过基于改进的自调整自适应观察者提出了完全分布的连续控制定律，通过提出了完全分布的连续控制定律，该方法协调控制多拉格朗日系统。基于标识符的高增益自适应控制技术。在该分布式连续控制法下，一组拉格朗日系统被驱动到由多个异源动态领导者跨越的凸船体，这可以是任意未知量大的步进信号的任何组合，任意未知斜坡的斜坡信号，以及任意的正弦信号未知的幅度，初始阶段和任何未知频率。这也值得提出我们提出的这一控制法，根据未表现追随者的领导者系统的任何信息，也不是外部干扰，即使独立于邻居的速度，也可以实现多个领导者的渐近跟踪，而没有任何额外的条件而不是任何额外的条件确保在文献中的遏制误差的最终界限。版权？ 2016年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2017年第16期</span><b style="margin: 0 2px;">|</b><span>共14页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Dong Yi&option=202" target="_blank" rel="nofollow">Dong Yi;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Xu Shengyuan&option=202" target="_blank" rel="nofollow">Xu Shengyuan;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hu Xiaoming&option=202" target="_blank" rel="nofollow">Hu Xiaoming;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>School of AutomationNanjing University of Science and TechnologyNanjing China;</p> <p>School of AutomationNanjing University of Science and TechnologyNanjing China;</p> <p>Optimization and Systems TheoryKTH Royal Institute of TechnologyStockholm Sweden;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=adaptive control&option=203" rel="nofollow">adaptive control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Lagrangian multi‐agent system&option=203" rel="nofollow">Lagrangian multi‐agent system;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=containment control&option=203" rel="nofollow">containment control;</a> </p> <div class="translation"> 机译：自适应控制;拉格朗日多功能系统;遏制控制; </div> </li> <li> <span class="lefttit">入库时间</span> <span>2022-08-20 02:17:54</span> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" 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<span>机译：使用基于近似的干扰观测器方法的控制设备，用于具有不匹配干扰的不确定纯反馈非线性系统的自适应跟踪 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130403356416.html">Control Apparatus using approximation-based disturbance observer approach for adaptive tracking of uncertain pure-feedback nonlinear systems with unmatched disturbances</a> <b>[P]</b> . <span> 外国专利：  KR20180138506A </span> <span> . 2018-12-31</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：使用基于近似的干扰观测器方法的控制设备，用于具有不匹配干扰的不确定纯反馈非线性系统的自适应跟踪 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130403340678.html">Control Apparatus for Arbitrarily Switched Uncertain Non-affine Nonlinear System using Adaptive Observer based Output Constrained Tracking</a> <b>[P]</b> . <span> 外国专利：  KR101933964B1 </span> <span> . 2018-12-31</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：基于自适应观测器的输出约束跟踪的任意切换不确定仿射非线性系统的控制装置 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > </div> </div> </div> <div id="thesis_get_original1" class="downloadBth" style="bottom: 19px;z-index: 999;" onclick="ywcd('0704023067192','4',7,2,1,'',this,24)" class="delivery" prompt="010401" title="通过人工服务将文献原文发送至邮箱" >获取原文</div> <div class="journalsub-pop-up" style="display: none"> <div class="journal-sub"> <h2>期刊订阅</h2> <img src="https://cdn.zhangqiaokeyan.com/img/loginclose.png" alt="" onclick="$('.journalsub-pop-up').hide()"> <p class="pardon">抱歉，该期刊暂不可订阅，敬请期待！</p> <p 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