Region-reaching control for multiple underactuated Euler-Lagrange systems based on energy-shaping framework

IF 3.4 2区数学 Q1 MATHEMATICS, APPLIED

Communications in Nonlinear Science and Numerical Simulation Pub Date : 2025-06-11 DOI:10.1016/j.cnsns.2025.109020

Bin Zheng , Jinchen Ji , Runlong Peng , Zhonghua Miao , Jin Zhou

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引用次数: 0

Abstract

This paper presents a first attempt to address the distributed region-reaching control problems of multiple underactuated Euler-Lagrange systems (MUELSs) within an energy-shaping framework. An adaptive gain technique incorporating the region potential function is suitably introduced to design a distributed region-reaching control scheme by the best use of the passivity-based control (PBC) framework with damping injection. Additionally, the underactuated Euler-Lagrange (EL) dynamics are utilized to systematically integrate the energy of the system model and adaptive controller dynamics. Consequently, two independent region-reaching algorithms for MUELSs in the presence or absence of communication delays are analytically derived using appropriate Lyapunov functions. The overall region-reaching tracking cooperative performance, including stability, adaptability, and robustness, is validated through analysis and comparison of simulation examples.

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基于能量整形框架的多欠驱动欧拉-拉格朗日系统区域逼近控制

本文首次尝试在能量整形框架内解决多个欠驱动欧拉-拉格朗日系统的分布式区域到达控制问题。引入一种结合区域势函数的自适应增益技术，充分利用带阻尼注入的基于无源的控制框架，设计了一种分布式到达区域的控制方案。此外，利用欠驱动欧拉-拉格朗日（EL）动力学来系统地集成系统模型和自适应控制器动力学的能量。因此，在存在或不存在通信延迟的情况下，使用适当的李雅普诺夫函数解析导出了两个独立的muels区域到达算法。通过仿真算例的分析和比较，验证了该方法的整体区域跟踪合作性能，包括稳定性、适应性和鲁棒性。

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来源期刊

Communications in Nonlinear Science and Numerical Simulation MATHEMATICS, APPLIED-MATHEMATICS, INTERDISCIPLINARY APPLICATIONS

CiteScore

6.80

自引率

7.70%

发文量

378

审稿时长

78 days

期刊介绍： The journal publishes original research findings on experimental observation, mathematical modeling, theoretical analysis and numerical simulation, for more accurate description, better prediction or novel application, of nonlinear phenomena in science and engineering. It offers a venue for researchers to make rapid exchange of ideas and techniques in nonlinear science and complexity. The submission of manuscripts with cross-disciplinary approaches in nonlinear science and complexity is particularly encouraged. Topics of interest: Nonlinear differential or delay equations, Lie group analysis and asymptotic methods, Discontinuous systems, Fractals, Fractional calculus and dynamics, Nonlinear effects in quantum mechanics, Nonlinear stochastic processes, Experimental nonlinear science, Time-series and signal analysis, Computational methods and simulations in nonlinear science and engineering, Control of dynamical systems, Synchronization, Lyapunov analysis, High-dimensional chaos and turbulence, Chaos in Hamiltonian systems, Integrable systems and solitons, Collective behavior in many-body systems, Biological physics and networks, Nonlinear mechanical systems, Complex systems and complexity. No length limitation for contributions is set, but only concisely written manuscripts are published. Brief papers are published on the basis of Rapid Communications. Discussions of previously published papers are welcome.