{"title":"网络拉格朗日智能体产生连续控制转矩的分布式时变优化算法","authors":"Yong Ding, H. Wang, Jie Mei, W. Ren","doi":"10.23919/ACC55779.2023.10156384","DOIUrl":null,"url":null,"abstract":"In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.","PeriodicalId":397401,"journal":{"name":"2023 American Control Conference (ACC)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques\",\"authors\":\"Yong Ding, H. Wang, Jie Mei, W. Ren\",\"doi\":\"10.23919/ACC55779.2023.10156384\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.\",\"PeriodicalId\":397401,\"journal\":{\"name\":\"2023 American Control Conference (ACC)\",\"volume\":\"36 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-05-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 American Control Conference (ACC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.23919/ACC55779.2023.10156384\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/ACC55779.2023.10156384","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Distributed Time-Varying Optimization Algorithm For Networked Lagrangian Agents Generating Continuous Control Torques
In this paper, the distributed time-varying optimization problem is investigated for networked Lagrangian systems with parametric uncertainties. Due to the usage of the signum function in the control torque design, there might exist chattering while implementing the distributed time-varying optimization algorithms for networked Lagrangian agents in the existing works. To this end, we design a distributed optimization algorithm that is capable of generating continuous control torques and achieving exact optimum tracking. A simulation is presented to validate the effectiveness of the proposed algorithm.
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