Abstract
The manipulation of multiple physical connected objects can be described by virtual connected string system. We proposed a Lyapunov-based stabilization control approach for virtual connected string with midway discontinue vertical force. The system is with Riemannian boundary. We use the backstepping method to transform the system into a stable system with Dirichlet boundary. In this way, we get the controller to make sure the closed-loop system converge to the zero point exponentially. Then, we construct a Lyapunov function to analyze the stability for the closed-loop system. We also show the system is well-posedness. Also, we use the active disturbance rejection control (ADRC) to reject the disturbance when disturbance is present. Some numerical stimulations show that the control law is the effective.
Highlights
Multirobot transportation system has been one of the most potential research fields in recent years, and the majority of these studies are focused on multiple robots manipulating a single object, while the manipulated object in this paper is a class of multiple physical connected objects (MPO). e manipulation of MPO has been widely used both in daily life and industrial application
Anti-dam damping x (i) Simulate external constraints using virtual connected string system. us, one contribution of this paper is replacing the manipulated MPO with a virtual connected string. en, the problem is converted to the system stabilization of the connected string system considering pushing disturbance and antidamping
A virtual connected string system with midway discontinue vertical force model is proposed for the underground multirobot system, and the Lyapunov-based stabilization control approach for virtual connected string is studied in the paper. e system is with Riemannian boundary. e backstepping is used to move the antistable term to the boundary to give the controller and Lyapunov approach is used to analyze the stability for the closed-loop system when the disturbance is absent. en, active disturbance rejection control (ADRC) is used to estimate and reject the disturbance
Summary
Multirobot transportation system has been one of the most potential research fields in recent years, and the majority of these studies are focused on multiple robots manipulating a single object, while the manipulated object in this paper is a class of multiple physical connected objects (MPO). e manipulation of MPO has been widely used both in daily life and industrial application. Ese shields are connected with each other, and each shield is immobilized by fixed oblique support, flexible oblique support, or vertical support, which are represented in Figures 1(a)–1(c), respectively Us, one contribution of this paper is replacing the manipulated MPO with a virtual connected string. En, the problem is converted to the system stabilization of the connected string system considering pushing disturbance and antidamping. It needs some mathematical techniques to find the suitable Lyapunov function for connected strings
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