Cooperative Strategy for Hydraulic Synchronous Lifting Systems with Industrial Applications

被引：1
|
作者：
Ren, Huaiwei [1 ,2 ]
Li, Shuaishuai [1 ,2 ]
Zhao, Guorui [1 ,2 ]
Ding, Xiangjun [3 ]
Wang, Chunyan [3 ]
机构：
[1] China Coal Res Inst, Coal Min Branch, Beijing 100013, Peoples R China
[2] CCTEG Coal Min Res Inst, Beijing 100013, Peoples R China
[3] Beijing Inst Technol, Sch Aerosp Engn, Beijing 100081, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
关键词：
hydraulic lifting systems; leader-follower consensus; adaptive control; external disturbances; CONSENSUS DISTURBANCE REJECTION; MULTIAGENT SYSTEMS; INPUT DELAY; FEEDBACK; OBSERVER; TRACKING;
D O I：
10.1109/CAC51589.2020.9326778
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The cooperative control problem of hydraulic synchronous lifting system consisting of multiple cylinders is studied in this paper. The hydraulic cylinders are assumed to be equipped with wireless data transfer units and can exchange information with their neighboring cylinders. Based on the leader-follower structure, a distributed control protocol is designed for each follower to track the states of the leader utilizing information of local neighbors. Furthermore, adaptive control method is adopted to estimate the upper bound of the leaders unknown control input and external disturbances. Sufficient conditions are derived to guarantee the tracking errors converge to zero by Lyapunov stability theory. Finally, numerical simulations are carried out to illustrate the effectiveness of the theoretical results.
引用
收藏
页码：6890 / 6894
页数：5
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