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对含有模型非线性不确定性和外部扰动的多Euler-Lagrange系统的分布式协调包含控制问题进行研究.考虑通讯拓扑为有向图,所有领航者均为动态,且各智能体间相对速度信息不可测情况.首先,选取相对速度作为辅助变量,引入低通滤波器进行估计;然后,采用神经网络方法逼近并补偿非线性不确定性,提出一种分布式自适应包含控制律,并应用Lyapunov稳定性理论证明闭环系统的包含误差一致最终有界;最后,通过仿真算例验证了所提出的控制律的有效性.
The problem of distributed coordinated inclusions involving multi-Euler-Lagrange systems with nonlinear uncertainties and external perturbations is investigated. Considering that the topology of the communication is a directed graph, all pilots are dynamic and the relative velocity information Unverifiable situation.Firstly, we choose the relative speed as the auxiliary variable and introduce the low-pass filter to estimate it. Then, the neural network method is used to approximate and compensate the nonlinear uncertainties. A distributed adaptive control law is proposed. Lyapunov The stability theory proves that the inclusion error of the closed-loop system is uniform and ultimately bounded. Finally, the simulation results show the effectiveness of the proposed control law.