Guo Zhijun, Chen Gang
IEEE Trans Cybern. 2022 Oct;52(10):10592-10603. doi: 10.1109/TCYB.2021.3063619. Epub 2022 Sep 19.
The distributed optimal position control problem, which aims to cooperatively drive the networked uncertain nonlinear Euler-Lagrange (EL) systems to an optimal position that minimizes a global cost function, is investigated in this article. In the case without constraints for the positions, a fully distributed optimal position control protocol is first presented by applying adaptive parameter estimation and gain tuning techniques. As the environmental constraints for the positions are considered, we further provide an enhanced optimal control scheme by applying the ϵ -exact penalty function method. Different from the existing optimal control schemes of networked EL systems, the proposed adaptive control schemes have two merits. First, they are fully distributed in the sense without requiring any global information. Second, the control schemes are designed under the general unbalanced directed communication graphs. The simulations are performed to verify the obtained results.
本文研究了分布式最优位置控制问题，其目的是将网络化不确定非线性欧拉-拉格朗日（EL）系统协同驱动到一个能使全局成本函数最小化的最优位置。在位置无约束的情况下，首先通过应用自适应参数估计和增益调整技术提出了一种完全分布式最优位置控制协议。考虑到位置的环境约束，我们进一步应用ϵ-精确罚函数方法提供了一种增强的最优控制方案。与现有的网络化EL系统最优控制方案不同，所提出的自适应控制方案有两个优点。首先，它们在不需要任何全局信息的意义上是完全分布式的。其次，控制方案是在一般的非平衡有向通信图下设计的。通过仿真验证了所得结果。
