Research On Coordinated Control Of Network Euler - Lagrange System

In recent years, with the rapid development of science and technology, research on coordination control of the system described by Euler-Lagrange equations has became the focal issue of domestic and foreign scholars because of the theoretical significance and broad applications. In this paper, the coordination control problems of Networked Euler-Lagrange Systems(NELS) are considered, the major contents are consisted of the following parts.The coordination control problem of NELS with input constraint and without relative velocity information measurements is addressed. A distributed coordination control algorithm is designed under undirected topology. Based on Lyapunov stability theory and algebraic graph theory, it guarantees asymptotic stability of the closed-loop system. Through introducing a bounded function which can indicate input constraint, and the control input bounds do not depend on the information of neighbor numbers.At last, the coordination control problem of NELS with communication delay is addressed. Through introducing auxiliary variables under directed topology,the distributed coordination control algorithm is presented, and satisfied input constraint also. In the presence of communication delay, the proposed control algorithm guarantees the consensus of the system state.For both parts, numerical simulation system is established to perform simulation and verification of the proposed control algorithm. The simulation results show the feasibility and effectiveness of the designed control algorithms in this dissertation.