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网络化多机电系统协调控制理论及应用（英文版）
  • 书号：9787030494429
    作者：Gang Chen
  • 外文书名：
  • 装帧：平装
    开本：B5
  • 页数：160
    字数：350
    语种：en
  • 出版社：
    出版时间：2016-10-17
  • 所属分类：
  • 定价： ￥99.00元
    售价： ￥78.21元
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目录

  • Contents
    Chapter 1 Preliminaries on distributed cooperative control1
    1.1 Centralized control vsdistributed control1
    1.2 Algebraic graph theory and communication topology2
    1.3 Preliminaries on distributed cooperative control4
    1.3.1 Elementary matrix theory4
    1.3.2 Valuable results6
    1.4 Convergence analysis of cooperative systems9
    1.4.1 Discrete-time systems9
    1.4.2 Continuous-time systems11
    Chapter 2 Passivity-based cooperative control of networked mechanical systems15
    2.1 Passivity15
    2.2 Output synchronization with linear protocols16
    2.3 Output synchronization with communication delays19
    2.4 Output synchronization with input saturation21
    2.5 Synchronization control of networked Lagrange systems23
    2.6 Simulation results27
    Chapter 3 Robust cooperative control of multiple inertial agent systems32
    3.1 Robust cooperative control of leaderless inertial agent systems32
    3.1.1 Neighbor-based control law32
    3.1.2 Decomposition34
    3.1.3 Robustness property with respect to the delayed and arbitrary switching topology37
    3.1.4 Robustness property with respect to the delayed and slow switching topology45
    3.1.5 Numerical examples48
    3.2 Robust cooperative control of leader-follower inertial agent systems51
    3.2.1 Control protocol design51
    3.2.2 Synthesis of leader-follower system with weakly connected subgraph54
    3.2.3 Synthesis of leader-follower system with strongly connected subgraph60
    3.2.4 Robustness performance with respect to communication failures and delays62
    3.2.5 Numerical examples65
    Chapter 4 Coordination of robot networks via pinning control69
    4.1 Networked robot systems69
    4.2 Pinning control of robot networks with xed communication topology73
    4.2.1 Pinning control for general graphs74
    4.2.2 Pinning control for strongly connected and balanced graphs78
    4.2.3 Discussion on selection of the pinned nodes80
    4.3 Pinning control of robot networks with variable topology84
    4.4 Simulation examples85
    Chapter 5 Adaptive coordinated control of networked Lagrange systems92
    5.1 Lagrange systems in the regressive form92
    5.1.1 Cooperative tracking control with relative velocity measurement94
    5.1.2 Cooperative tracking control without relative velocity measurement99
    5.1.3 Experimental validation102
    5.2 Lagrange systems in the nominal model plus uncertainty term form109
    5.2.1 Synchronization control without tracking110
    5.2.2 Cooperative tracking control with relative velocity measurement113
    5.2.3 Cooperative tracking control without relative velocity measurement117
    5.3 Numerical examples122
    Chapter 6 Cooperative intelligent control of networked Lagrange systems128
    6.1 Distributed intelligent control by linear-in-parameter neural networks128
    6.1.1 Distributed intelligent controller design130
    6.1.2 Compensation of neural network approximation errors139
    6.1.3 Illustrative design and simulation143
    6.2 Distributed intelligent control by self-structuring neural network148
    6.2.1 Self-structuring neural networks150
    6.2.2 Cooperative tracking control by discontinuous control law 152
    6.2.3 Cooperative tracking control by continuous control law157
    6.2.4 Illustrative design and simulation165
    6.3 Distributed solar tracking systems170
    6.3.1 Dynamic model of solar tracking systems172
    6.3.2 Distributed solar tracking algorithm174
    6.3.3 Illustrative design and simulation180
    Chapter 7 Finite-time cooperative control of networked mechanical systems185
    7.1 Finite-time binary protocol186
    7.1.1 Di.erential inclusions186
    7.1.2 Finite-time convergence property of binary protocol186
    7.1.3 Synchronizing networked mechanical systems via binary protocol196
    7.2 Finite-time tracking control on undirected graphs200
    7.2.1 Finite-time sliding-mode tracking control protocol201
    7.2.2 Adaptive-nite-time tracking control protocol207
    7.2.3 Continuous-nite-time tracking control protocol210
    7.2.4 Simulation examples214
    7.3 Finite-time tracking control on directed graphs217
    7.3.1 Terminal sliding mode based control protocol design219
    7.3.2 Finite-time tracking performance analysis226
    7.3.3 Simulation examples232
    Chapter 8 Distributed optimal control of multiple generator systems240
    8.1 Distributed optimal control without generation constraints240
    8.1.1 A fully distributed microgrid structure240
    8.1.2 Distributed secondary voltage and frequency control243
    8.1.3 Distributed and optimal active power sharing scheme247
    8.1.4 Simulation studies253
    8.2 Distributed optimal control with generation constraints258
    8.2.1 Centralized solution for EDP with generation constraints258
    8.2.2 Distributed algorithm for EDP with generation constraints260
    8.2.3 Distributed cooperative control implementation267
    8.2.4 Simulation studies273
    Chapter 9 Fault-tolerant cooperative control of networked mechanical systems279
    9.1 Robust fault-tolerant cooperative control280
    9.1.1 Actuator fault detection algorithm281
    9.1.2 Fault-tolerant synchronization controller design283
    9.1.3 Fault-tolerant cooperative tracking controller design288
    9.1.4 Simulation examples291
    9.2 Adaptive fault-tolerant cooperative control298
    9.2.1 Fault-tolerant controller design300
    9.2.2 Performance analysis under communication link faults309
    9.2.3 Experiments and results312
    Bibliographies319
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