Distributed Adaptive Synchronization Control with Friction Compensation of Networked Lagrange Systems

被引：0
|
作者：
Naijing Jiang
Jian Xu
Shu Zhang
机构：
[1] Tongji University,School of Aerospace Engineering and Applied Mechanics
来源：
International Journal of Control, Automation and Systems | 2018年 / 16卷
关键词：
Distributed adaptive algorithm; Lagrange network; LuGre friction; synchronization; tracking control;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, the problem of dynamic friction compensation of networked Lagrange system is considered to design the synchronization controller with better performance. LuGre friction model is introduced to obtain accurate description of friction. The tracking control algorithms for certain and uncertain parameters are provided. Control algorithm for certain parameters has lower computation load, while control algorithm for uncertain parameters has the capability of adapting changes by learning from the tracking error. Both control algorithms achieve synchronization rapidly. Simulations are given to show the effectiveness of the proposed tracking algorithm.
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页码：1038 / 1048
页数：10
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