摘要
文中研究多拉格朗日系统的跟踪控制问题,基于反步控制法,提出一种多拉格朗日系统跟踪控制策略。首先,基于拉格朗日系统模型定义系统误差,并将其作为新的系统变量设计一个新的模型。其次,证明在系统误差达到零点时,系统能实现一致性跟踪控制。再采用反步法设计控制律,使得系统误差能够满足上述条件。另外,在领导者满足给定条件的情况下,系统能实现分布式跟踪控制。最后通过仿真,验证了文中理论方法的有效性。
The tracking control problem for multi-Lagrange systems is studied,and a tracking control strategy for multi-Lagrange systems is presented by a backstepping method.Firstly,the system error is defined based on the Lagrange system model and a new model is designed as a new system variable.Secondly,it is proved that the system can achieve consistent tracking control when the system error reaches zero.Then,the backstepping method is used to design the control law so that the system error can meet the above conditions.In addition,the system can realize distributed tracking control when the leader satisfies given conditions.Finally,the effectiveness of the theoretical method is verified by simulations.
作者
桂凌成
蒋国平
周映江
GUI Lingcheng;JIANG Guoping;ZHOU Yingjiang(College of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)
出处
《南京邮电大学学报（自然科学版）》
北大核心
2019年第6期104-110,共7页
Journal of Nanjing University of Posts and Telecommunications：Natural Science Edition
基金
国家自然科学基金(61873326)资助项目
关键词
多拉格朗日系统
系统误差
跟踪控制
反步法
multi-Lagrange systems
system error
tracking control
backstepping method
