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Observer-based distributed coordinated tracking control for multiple simple-pendulum network systems with time-varying delays

  • Regular Papers
  • Control Theory and Applications
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Abstract

For networked control systems consisting of multiple simple-pendulums driven by corresponding DC motors with time-varying communication and input delays, a distributed coordinated controller via observer-based output feedback is designed to solve the tracking problem under both fixed and jointly-connected switching topologies. Firstly, the linearized dynamic model for multiple nonlinear simple-pendulum network systems with DC motors is presented, and the distributed coordinated tracking problem considering time-varying input delays is mathematically described. Then the distributed observer-based tracking control protocol with time-varying communication and input delays is proposed, and simultaneously, both the observer gain and feedback gain are designed. Two examples are simulated to demonstrate consensus tracking for three types of states, i.e., swing angles, angular velocities of multiple simple-pendulums and armature currents of DC motors can be completed utilizing the developed coordinated tracking control with fixed and jointly connected topologies.

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Authors and Affiliations

  1. College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, 130012, China

    Yu-lian Jiang, Yuan-chun Li & Shen-quan Wang

Authors
  1. Yu-lian Jiang
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  2. Yuan-chun Li
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  3. Shen-quan Wang
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Corresponding author

Correspondence to Shen-quan Wang.

Additional information

Recommended by Associate Editor Ho Jae Lee under the direction of Editor Yoshito Ohta. This journal was supported by the Natural Science Foundation of China under Grant 61503045, 61403044, 61374051, Research Project on the Science and Technology of Education Department of Jilin Province under Grant 2016337 and Open Research Project under Grant 20150102 from SKLMCCS.

Yulian Jiang received her Ph.D. degree in 2014 from Northeastern University, China. She is currently a lecturer in the College of Electrical and Electronic Engineering of the Changchun University of Technology. Her research interests covercoordination control for multi-agent systems and robotic control.

Yuanchun Li received his Ph.D. degree at Harbin Institute of Technology, Harbin, China in 1990. Currently he is a professor in College of Electrical and Electronic Engineering, Changchun University of Technology. His main research interests include dynamic modeling and control of complex systems, and robotic control. He has written more than 100 technical papers in the journals and conferences.

Shenquan Wang received his Ph.D. degree in 2014 from Northeastern University, China. He is currently an associate professor in the College of Electrical and Electronic Engineering of the Changchun University of Technology. His main research interests include fault detection, reliable control and the stability for time-delayed systems.

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Jiang, Yl., Li, Yc. & Wang, Sq. Observer-based distributed coordinated tracking control for multiple simple-pendulum network systems with time-varying delays. Int. J. Control Autom. Syst. 15, 2516–2525 (2017). https://doi.org/10.1007/s12555-016-0507-7

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  • DOI: https://doi.org/10.1007/s12555-016-0507-7

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