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Adaptive Synchronization of Networked Mechanical Systems with Communication Delays

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Proceedings of 2016 Chinese Intelligent Systems Conference (CISC 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 404))

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Abstract

This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented by a directed graph. Based on a novel coordination auxiliary system, we extend existing feedback architecture to achieve synchronization of networked mechanical systems in task space. The control scheme is established with time-domain approaches by using Lyapunov–Krasovskii functions. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.

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Acknowledgments

This work was supported by the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201) and the NSFC (61134005, 61327807, 61521091, 61520106010).

Author information

Authors and Affiliations

  1. School of Automation, Beijing University of Posts and Telecommunication (BUPT), Beijing, 100876, China

    Bin Zhang

  2. The Seventh Research Division, Beihang University (BUAA), Beijing, 100191, China

    Yingmin Jia

Authors
  1. Bin Zhang
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  2. Yingmin Jia
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Corresponding author

Correspondence to Bin Zhang .

Editor information

Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

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© 2016 Springer Science+Business Media Singapore

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Zhang, B., Jia, Y. (2016). Adaptive Synchronization of Networked Mechanical Systems with Communication Delays. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 404. Springer, Singapore. https://doi.org/10.1007/978-981-10-2338-5_43

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  • DOI: https://doi.org/10.1007/978-981-10-2338-5_43

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2337-8

  • Online ISBN: 978-981-10-2338-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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