KMS Chongqing Institute of Green and Intelligent Technology, CAS
| Robust Anti-Disturbance Coordinated Control for Multiple Manipulators | |
Fu, Jianting1,2 ; Li, Yankai3; Yin, Shaoyun1,2; Zheng, Bin1; Yuan, Jiahu1,2
| |
| 2020 | |
| 摘要 | In this paper, the anti-disturbance coordinated control is investigated for the multiple mobile manipulators with disturbances. Some disturbances are induced by the random white noise; the others are assumed to be described by an external system. These disturbances are rejected and attenuated based on the disturbance-observer-based-control (DOBC) method and the adaptive control approach. Subsequently, a robust adaptive antidisturbance coordinated control strategy is proposed for the multiple mobile manipulators based on the back-stepping control scheme. In accordance with Lyapunov stability theory and the stochastic control theory foundation, the tracking error systems are guaranteed to be exponentially practically stable in mean square. Finally, an example is used to verify the effectiveness of the presented control method. |
| 关键词 | Control systems Adaptive control Stochastic processes Robustness Manipulator dynamics Mathematical model Disturbance-observer-based-control adaptive control multiple manipulators stochastic system |
| DOI | 10.1109/ACCESS.2020.2995770 |
| 发表期刊 | IEEE ACCESS
 |
| ISSN | 2169-3536 |
| 卷号 | 8页码:95897-95905 |
| 通讯作者 | Yuan, Jiahu(yjh@cigit.ac.cn) |
| 收录类别 | SCI |
| WOS记录号 | WOS:000541139500060 |
| 语种 | 英语 |
