Research On Synchronization Control Of Linear Networked System Based On Output Regulation

Considering the ubiquitous synchronization behavior of the world and its practical application in the control area, this paper which combines the graph theory,matrix analysis,mobile robots and system control theory carries out research on synchronization control of linear complex networked system based on output regulation.The main content contains the following 5 parts:1. Based on the related former research, a review is given on the research contents and current status of synchronization of complex networks; moreover, the synchronization condition and stability analysis are also given.2. Considering the fixed network topology, provide the sufficiency and stability of synchronization, meanwhile, give the research emphasis——Synchronized output regulation(SOR). Firstly, design a adaptive gain controller of reference tracking for single system; by combining the matrix decomposing and master stable function, show the relationship among the coupling strength,algebraic connectivity,controllability and synchronization; Secondly, design the synchronization observer to overcome the difficulty caused by the constraint that the followers cannot access the exogenous/desired signal; Lastly, simulations are given to show our results.3. Study the effects of swiching topology to system synchronized output regulation problem. Firstly, introduce the Lyapunov exponents and consensus convergence to reveal the system dynamic and coupling topology; Then, use the synchronization observer and dynamic error feedback control to solve SOR, and remark that the exchanging information are the relative states of this observer; Lastly, the second order system is given for further development of SOR.4. In order to combine complex network synchronization theory with practical systems, the mobile multi-robots synchronization tracking is developed. Firstly, the multi-robots characteristics and non-holonomic mobile robot model are given, also it shows the necessity of implementing the network theory to robot systems; Then, a single robot's tracking strategy is derived based on cascaded approach; And then implement the SOR to multi-robots synchronized tracking based on output-input linear feedback method; Lastly, the simulations and experiments show the effectiveness of theoretical results.5. The conclusion and perspective are given at the end of this dissertation.There are three contributions of this paper:provide quantitative relationship analysis between the fixed topology of network coupling and synchronization; by expanding and deepening the study of network synchronization, research the sufficiency and stability of system synchronization, and solve the key point to make the output of networked system synchronize to the desired signal(or trajectory), i.e. synchronized output regulation; by applying the study to synchronized tracking of multi-robots system, make theory and practical system control together.