| 引用本文: | 徐亮,徐翔,刘涛.多执行器协同鲁棒平行驱动[J].控制理论与应用,2026,43(1):3~11.[点击复制] |
| XU Liang,XU Xiang,LIU Tao.Cooperative robust parallel operation of multiple actuators[J].Control Theory & Applications,2026,43(1):3~11.[点击复制] |
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| 多执行器协同鲁棒平行驱动 |
| Cooperative robust parallel operation of multiple actuators |
| 摘要点击 259 全文点击 43 投稿时间：2024-10-26 修订日期：2025-09-18 |
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| DOI编号 10.7641/CTA.2025.40561 |
| 2026,43(1):3-11 |
| 中文关键词 协同平行驱动 多执行器 鲁棒输出调节 一致性 |
| 英文关键词 cooperative parallel operation multiple actuators robust output regulation consensus |
| 基金项目 |
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| 中文摘要 |
| 本文研究了多执行器在无向通信网络下的协同鲁棒平行驱动. 考虑一个具有不确定性的线性系统，且所有执行器具有相同的线性动力学. 基于内模原理, 本文提出了一种分布式动态输出反馈控制律, 同步实现了闭环系统的鲁棒输出调节与系统输入在执行器之间的共享. 最后, 五台电机在外部负载扭矩作用下, 协同驱动不确定转轴的数值仿真验证了所提控制律的有效性. |
| 英文摘要 |
| This paper studies cooperative robust parallel operation of multiple actuators over an undirected communication graph. The plant is modeled as an uncertain linear system, and the actuators are linear and identical. Based on
the internal model principle, a distributed dynamic output feedback control law is proposed to achieve both robust output
regulation of the closed-loop system and plant input sharing among the actuators. A practical example of five motors co
operatively driving an uncertain shaft under an external load torque is presented to show the effectiveness of the proposed
control law. |