Task-Space Synchronization of Networked Mechanical Systems With Uncertain Parameters and Communication Delays
研究了网络化机械系统在任务空间中存在时变通信延迟时的自适应同步问题，提出了两种控制方案，并通过仿真验证了有效性。
This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented by a directed graph. Based on a novel coordination auxiliary system, we first extend existing feedback architecture to achieve synchronization of networked mechanical systems in task space with slow-varying delays. Given that abrupt turns arise for the delays sometimes, we then propose a delay-independent adaptive synchronization control scheme which removes the requirement of the slow-varying condition. Both of the two control schemes are established with time-domain approaches by using Lyapunov-Krasovskii functions. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.