| 摘要: |
| In this paper, the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom (n-DOF) robot systems is studied using the Hamiltonian function method, and the corresponding adaptive L2 controller is designed. First, we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance. Namely, the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator (UP-DO) and potential energy shaping method, and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology, and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system. On this basis, we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances, and design an adaptive robust simultaneous stabilization controller. Finally, the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time. |
| 关键词: Multiple robot systems · Adaptive robust control · Simultaneous stabilization · Hamiltonian function method |
| DOI：https://doi.org/10.1007/s11768-021-00076-6 |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (G61773015, G61877028, G61803230), the Key Research and Development Plan of Shandong Province (2019JZZY020712), the Natural Science Foundation of Shandong Province (ZR2019MF032), A Project of Shandong Province Higher Educational Science and Technology Program (J18KA330, J18KA348), and the Jinan Engineering Laboratory-Intelligent Control and Cloud Platform and Implementation Plan of “1251” Talent Training Project of Shandong Jiaotong University. |
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| Adaptive robust simultaneous stabilization of multiple n-degree-of-freedom robot systems |
| Haiying Zhang,Renming Yang |
| (Shandong?University) |
| Abstract: |
| In this paper, the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom (n-DOF) robot systems is studied using the Hamiltonian function method, and the corresponding adaptive L2 controller is designed. First, we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance. Namely, the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator (UP-DO) and potential energy shaping method, and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology, and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system. On this basis, we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances, and design an adaptive robust simultaneous stabilization controller. Finally, the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time. |
| Key words: Multiple robot systems · Adaptive robust control · Simultaneous stabilization · Hamiltonian function method |
