Distributed cooperative control of mechatronic system driving multiple electrohydraulic actuators with uncertain nonlinearity and communication delay

IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Jiyu Zhang, Wei Gao, Qing Guo, Xing Ren, Chen Wang, Yan Shi
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Abstract

Being different from many centralized mechatronic systems, the distributed transmission mechanism has the significant advantage such that realize cooperative task only based on small amount neighbour nodes with low computational complexity. In this study, a distributed cooperative control is proposed for multiple electrohydraulic system (MEHS) to guarantee the follower electrohydraulic node tracking the leader motion, based on the approach of directed spanning tree. Firstly, the MEHS model is constructed as three-orders isomorphic nonlinear dynamics. Then, a disturbance observer is adopted to estimate uncertain nonlinearities caused by hydraulic parametric uncertainties and unknown external loads in the MEHS. To address unknown communication delays in the network topology of MEHS, a quasi-synchronous controller is designed via Lyapunov–Krasovskii technique to guarantee that the synchronous errors asymptotically converge to a zero neighbourhood. Finally, the effectiveness of the proposed distributed synchronous control is verified by simulation results under uncertain nonlinearities and different communication delays.

Abstract Image

驱动具有不确定非线性和通信延迟的多个电液致动器的机电一体化系统的分布式协同控制
与许多集中式机电一体化系统不同,分布式传输机制具有显著优势,即只需基于少量邻节点即可实现协同任务,且计算复杂度低。本研究基于有向生成树的方法,为多电液系统(MEHS)提出了一种分布式协同控制,以保证跟随者电液节点跟踪领导者的运动。首先,将多电液系统模型构建为三阶同构非线性动力学模型。然后,采用干扰观测器来估计 MEHS 中由液压参数不确定性和未知外部负载引起的不确定非线性。针对 MEHS 网络拓扑结构中的未知通信延迟,通过 Lyapunov-Krasovskii 技术设计了一个准同步控制器,以保证同步误差渐近收敛到零邻域。最后,在不确定的非线性和不同的通信延迟条件下,通过仿真结果验证了所提出的分布式同步控制的有效性。
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来源期刊
IET Control Theory and Applications
IET Control Theory and Applications 工程技术-工程:电子与电气
CiteScore
5.70
自引率
7.70%
发文量
167
审稿时长
5.1 months
期刊介绍: IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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