多执行器协同鲁棒平行驱动OA
Cooperative robust parallel operation of multiple actuators
本文研究了多执行器在无向通信网络下的协同鲁棒平行驱动.考虑一个具有不确定性的线性系统,且所有执行器具有相同的线性动力学.基于内模原理,本文提出了一种分布式动态输出反馈控制律,同步实现了闭环系统的鲁棒输出调节与系统输入在执行器之间的共享.最后,在外部负载扭矩作用下,五台电机协同驱动不确定转轴的数值仿真验证了所提控制律的有效性.
This paper studies cooperative robust parallel operation of multiple actuators over an undirected communi-cation graph.The plant is modeled as an uncertain linear system,and the actuators are linear and identical.Based on the internal model principle,a distributed dynamic output feedback control law is proposed to achieve both robust output regulation of the closed-loop system and plant input sharing among the actuators.A practical example of five motors co-operatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed control law.
徐亮;徐翔;刘涛
南方科技大学深圳市控制理论与智能系统重点实验室,广东 深圳 518055南方科技大学深圳市控制理论与智能系统重点实验室,广东 深圳 518055南方科技大学深圳市控制理论与智能系统重点实验室,广东 深圳 518055
协同平行驱动多执行器鲁棒输出调节一致性
cooperative parallel operationmultiple actuatorsrobust output regulationconsensus
《控制理论与应用》 2026 (1)
3-11,9
Supported by the Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001),the National Natural Science Foundation of China(62303207)and the Guangdong Basic and Applied Basic Research Foundation(2024A1515010725).
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