The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the...The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the traction/brake characteristic curve and running data of EMUs,a subtractive clustering method and pattern classification algorithm are adopted to set up a multi-model set for every agent.Then,the multi-agent model is established according to the multi-agent network topology and mutual-coupled constraint relations.Finally,we adopt a smooth start switching control strategy and a multi-agent distributed coordination control algorithm to ensure the synchronous speed tracking control of each agent.Simulation results on the actual CRH380A running data show the effectiveness of the proposed approach.展开更多
Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering ...Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.展开更多
基金Supported by National Natural Science Foundation of China(61164013,U1334211,51174091)the Key Program of China Ministry of Railway(2011Z002-D)Natural Science Foundation of Jiangxi Province(20122BAB201021)
文摘The distributed-power electric multiple units(EMUs)are widely used in high-speed railway.Due to the structural characteristic of mutual-coupled power units in EMUs,each power unit is set as an agent.Combining with the traction/brake characteristic curve and running data of EMUs,a subtractive clustering method and pattern classification algorithm are adopted to set up a multi-model set for every agent.Then,the multi-agent model is established according to the multi-agent network topology and mutual-coupled constraint relations.Finally,we adopt a smooth start switching control strategy and a multi-agent distributed coordination control algorithm to ensure the synchronous speed tracking control of each agent.Simulation results on the actual CRH380A running data show the effectiveness of the proposed approach.
基金supported by the National Natural Science Foundation of China(Grant Nos.1127219110972129 and 10832006)+1 种基金Specialized Research Foundation for the Doctoral Program of Higher Education(Grant No.200802800015)University Natural Science Research Program of Anhui Province(Grant No.KJ2013B216)
文摘Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.
