Distributed fuzzy cooperative tracking control method of network Euler-Lagrange system
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A tracking control and distributed technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of reducing the amount of calculation
Active Publication Date: 2015-06-10
严格集团股份有限公司
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However, this control algorithm is proposed under the assumption that the directed network is connected, which has great limitations.
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specific Embodiment approach 1
[0026] Specific embodiment one: the network Euler-Lagrange system distributed fuzzy cooperative tracking control method of the present embodiment, it realizes according to the following steps:
[0027] Step 1: Process the Euler-Lagrange dynamic model of the agent following the double-joint manipulator, and classify the nonlinear uncertainty of the model according to its source to obtain and
[0028] Step 2: Adopt adaptive fuzzy control system design to realize the two types of nonlinear uncertainties of the model respectively and Perform dynamic online approximation;
[0029] Step 3: Using the distributed adaptive fuzzy cooperative tracking control algorithm, design τ i So that all the agents following the dual-joint manipulator can asymptotically track the rotation angle of the leading two-joint manipulator agent, so that the tracking error q i -q 0 tends to zero; among them, the q i is the rotation angle following the double-joint manipulator agent i, and i=1,2,…,...
specific Embodiment approach 2
[0062] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is that the step one is specifically:
[0063] Known M i (q i ), and g i (q i ) nominal value and Indicates the number of the agent following the double-joint manipulator, and each follower of the double-joint manipulator can obtain all the information of its own rotation angle, rotational angular velocity and rotational angular acceleration. The dynamic model of the i-th follower of the double-joint manipulator can be written as The following Euler-Lagrange form:
[0064] M i 0 ( q i ) q · · i + C i 0 ( q i ...
specific Embodiment approach 3
[0091] Specific implementation mode three: the difference between this implementation mode and specific implementation modes one or two is that the step two is specifically:
[0092] fuzzy system and non-linear uncertain terms and make an approximation
[0093]
[0094]
[0095] in, and j=1,...,m are parameter vectors, let θ ai = θ 1 ai · · · θ m ai ,
[0096] θ bi = θ 1 bi · ...
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Abstract
The invention provides a distributed fuzzy cooperative tracking control method of a network Euler-Lagrange system and relates to the distributed fuzzy cooperative tracking control method. The distributed fuzzy cooperative tracking control method is used for solving the problems of great limitation to linear systems, great conservative property due to not taking the constraints of network transmission and the visual range of a sensor into account, great limitation of existing control algorithm due to connected directed networks, and the like in the prior art. The distributed fuzzy cooperative tracking control method comprises the steps of 1, processing a multi-following agent Euler-Lagrange kinetic model and classifying the generalized uncertainties of the system according to sources thereof, 2, adopting adaptive fuzzy control system design and realizing dynamic online approximation on two classes of uncertainties of the system, respectively, 3, adopting distributed adaptive fuzzy cooperative tracking control algorithm design and designing tau i so that all the following agents can asymptotically track the trajectory of a pilot agent. The distributed fuzzy cooperative tracking control method of the network Euler-Lagrange system is applied to the field of multi-agent cooperative tracking control.
Description
technical field [0001] The invention relates to a distributed fuzzy cooperative tracking control method. Background technique [0002] In recent years, with the rapid development of network communication and computer technology, the distributed control of multi-agent systems has become a research hotspot among scholars at home and abroad. By controlling each intelligent body, each intelligent body can work in coordination, and can complete tasks that cannot be completed by a single moving body. It fundamentally improves the fault tolerance of the multi-agent system and broadens the application range of the multi-agent system. [0003] The distributed control of the multi-agent system designs the control law according to the information that each agent can obtain, and realizes the cooperative control of the multi-agent system. Distributed cooperative tracking control of multi-agent system in network environment is an important content of multi-agent system cooperative contr...
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