计算机工程与应用Issue(7)：258-261,4.DOI:10.3778/j.issn.1002-8331.1405-0137
网络环境下固定拓扑的多电机领航跟随控制
Leader-following control of multi-motor systems in directed networks with fixed topologies under network environment
摘要
Abstract
Based on the consistency theory of multi-agent systems, this paper solves the synchronous control of multiple motors in the network environment from the point of leader-following control. The impact of network that delays on the synchronization control is considered. Each motor is treated as an agent, and each agent can only get the output information from its neighbors. In this condition, this paper studies the synchronous control of multi-motor systems in the directed net-works with fixed topologies. In order to avoid the impact of network delays on the synchronous control of motors, this paper proposes a delay consistency control protocol with a distributed observer, Lyapunov stability theory is used to prove that if a single motor is controllable and observable, the multi-motor systems can achieve the leader-following consistency when network connections meet a simple topology. Finally, the simulation experiments verify the correctness and validity of the method proposed in this paper.关键词
多电机同步控制/网络时延/多智能体系统/一致性理论/领航跟随控制Key words
synchronous control of multi motors/network delay/multi-agent systems/consensus theory/leader-following control分类
信息技术与安全科学引用本文复制引用
柯越,陈其工,葛愿,曾晗,李名舒..网络环境下固定拓扑的多电机领航跟随控制[J].计算机工程与应用,2015,(7):258-261,4.基金项目
国家自然科学基金（No.61172131，No.61203034）；安徽省自然科学基金（No.1308085QF120）；安徽省级优秀青年人才基金重点项目（No.2012SQRL086ZD）；安徽工程大学国家级大学生创新创业训练计划项目（No.201210363052）。 （）
