摘要
From the analytical dynamics point of view, this paper develops an optimal control framework to synchronize networked multibody systems using the fundamental equation of mechanics. A novel robust control law derived from the framework is then used to achieve complete synchronization of networked identical or non-identical multibody systems formulated with Lagrangian dynamics. A distinctive feature of the developed control strategy is the introduction of network structures into the control requirement. The control law consists of two components, the first describing the architecture of the network and the second denoting an active feedback control strategy. A corresponding stability analysis is performed by the algebraic graph theory. A representative network composed of ten identical or non-identical gyroscopes is used as an illustrative example. Numerical simulation of the systems with three kinds of network structures, including global coupling, nearest-neighbour, and small-world networks, is given to demonstrate effectiveness of the proposed control methodology.
From the analytical dynamics point of view, this paper develops an optimal control framework to synchronize networked multibody systems using the fundamental equation of mechanics. A novel robust control law derived from the framework is then used to achieve complete synchronization of networked identical or non-identical multibody systems formulated with Lagrangian dynamics. A distinctive feature of the developed control strategy is the introduction of network structures into the control requirement. The control law consists of two components, the first describing the architecture of the network and the second denoting an active feedback control strategy. A corresponding stability analysis is performed by the algebraic graph theory. A representative network composed of ten identical or non-identical gyroscopes is used as an illustrative example. Numerical simulation of the systems with three kinds of network structures, including global coupling, nearest-neighbour, and small-world networks, is given to demonstrate effectiveness of the proposed control methodology.
基金
Project supported by the National Natural Science Foundation of China(Nos.10972129 and 11272191)
the Specialized Research Foundation for the Doctoral Program of Higher Education(No.200802800015)
the Science and Technology Project of High Schools of Shandong Province(No.J15LJ07)
the Shandong Provincial Natural Science Foundation(No.ZR2015FL026)
