Synchronization Control for Unreliable Network Systems in Intelligent Robots

摘要

An innovative strategy is proposed to investigate the problem of synchronization control for the unreliable network systems in this article. It is shown that the dynamics for nodes in the heterogeneous network are nonidentical, which can describe more complicated processes. The proposed distributed controller consists of the reference generator (RG) and regulator. First, any two RGs can exchange effective information by the communication channels. Time-varying delay may occur in the communication channels due to the resource constraints and the limited to network bandwidth. By designing the distributed control law, the closed-loop of the leader and all RGs can be equivalently rewritten as the feedback interconnection of a linear time-invariant system and an integral operator. In the light of the small gain theorem, the stability criteria for the feedback interconnection is obtained. Second, one leader and all RGs are considered as the exosystem of each nonidentical network node. The designed regulator can copy the dynamics of the exosystem and enforce that each nonidentical node tracks the corresponding exosystem. Finally, the control effectiveness of this novel strategy is substantiated through a numerical simulation.