Polynomial trajectory tracking of networked Euler-Lagrange systems
作者： Yunpeng Wang , Long Cheng , Zeng-Guang Hou , Min Tan , Guibin Bian
DOI: 10.1109/CHICC.2014.6896862
关键词: Mathematics 、 PID controller 、 Tracking (particle physics) 、 Trajectory 、 Control theory 、 Graph (abstract data type) 、 Protocol (object-oriented programming) 、 Quadratic equation 、 Spanning tree 、 Polynomial
摘要: The coordinated tracking problem of networked Euler-Lagrange systems is studied in this paper. According to the knowledge classical control, an integral term can eliminate steady-state error when solving problem. A proportional-integral-derivative (PID) protocol then first proposed solve where leader has a quadratic trajectory. By properly choosing parameters, it proved that all followers asymptotically track leader's trajectory if communication topology graph spanning tree. Furthermore, so-called PI m D derived by adding some high-order terms. It shown with having higher-order polynomial Finally, two simulation examples are presented demonstrate effectiveness protocol.
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