Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-31
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
A robust attitude motion synchronization problem is investigated for multiple 3-degrees-of-freedom (3-DOF) helicopters with input disturbances.
The communication topology among the helicopters is modeled by a directed graph, and each helicopter can only access the angular position measurements of itself and its neighbors.
The desired trajectories are generated online and not accessible to all helicopters.
The problem is solved by embedding in each helicopter some finite-time convergent (FTC) estimators and a distributed controller with integral action.
The FTC estimators generate the estimates of desired angular acceleration and the derivative of the local neighborhood synchronization errors.
The distributed controller stabilizes the tracking errors and attenuates the effects of input disturbances.
The conditions under which the tracking error of each helicopter converges asymptotically to zero are identified, and, for the cases with nonzero tracking errors, some inequalities are derived to show the relationship between the ultimate bounds of tracking errors and the design parameters.
Simulation and experimental results are presented to demonstrate the performance of the controllers.
American Psychological Association (APA)
Peng, Chen& Zhu, Bo& Wei, Keqi. 2016. Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1112552
Modern Language Association (MLA)
Peng, Chen…[et al.]. Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action. Mathematical Problems in Engineering No. 2016 (2016), pp.1-14.
https://search.emarefa.net/detail/BIM-1112552
American Medical Association (AMA)
Peng, Chen& Zhu, Bo& Wei, Keqi. Design and Experimental Verification of Robust Motion Synchronization Control with Integral Action. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-14.
https://search.emarefa.net/detail/BIM-1112552
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112552