典型文献
Adaptive robust simultaneous stabilization of multiple n-degree-of-freedom robot systems
文献摘要：
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 L 2 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.
文献关键词：
中图分类号：
作者姓名：
Haiying Zhang;Renming Yang
作者机构：
School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan 250357,Shandong,China
文献出处：
引用格式：
[1]Haiying Zhang;Renming Yang-.Adaptive robust simultaneous stabilization of multiple n-degree-of-freedom robot systems)[J].控制理论与技术（英文版）,2022(01):80-94
A类：
B类：
Adaptive,robust,simultaneous,stabilization,multiple,degree,freedom,robot,systems,In,this,paper,adaptive,problem,uncertain,DOF,studied,using,Hamiltonian,function,method,corresponding,controller,designed,First,we,investigate,without,external,Namely,single,transformed,into,equivalent,unified,partial,derivative,operator,UP,potential,energy,shaping,then,dimensional,obtained,by,applying,augmented,technology,output,feedback,ensure,higher,On,basis,further,study,disturbances,Finally,simulation,results,show,that,very,effective,stabilizing,same
AB值：
0.404249
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