Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization
In this paper, a prescribed-time adaptive <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain...
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10433474/ |
| _version_ | 1797296327550304256 |
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| author | Weichen Li Haitao Liu Xuehong Tian |
| author_facet | Weichen Li Haitao Liu Xuehong Tian |
| author_sort | Weichen Li |
| collection | DOAJ |
| description | In this paper, a prescribed-time adaptive <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain multiple robot manipulators. First, a novel prescribed performance function is introduced into the asymmetric log-type barrier Lyapunov function, which can limit angle errors and reduce the loss of communication resources among multiple robot manipulators. Second, a new prescribed-time leader state estimation observer is proposed to estimate the leader’s state information and pass it to the other followers without acceleration information. Third, a prescribed-time adaptive command filter is designed to solve the “explosion of the complexity” problem and improves the convergence performance of the control system. Fourth, an adaptive prescribed-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative controller with novel prescribed performance and input quantization is designed. Finally, simulation examples are presented to evaluate the stability of the proposed control system. |
| first_indexed | 2024-03-07T22:03:02Z |
| format | Article |
| id | doaj.art-3442904981f340afaa436f88dbab6058 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-07T22:03:02Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-3442904981f340afaa436f88dbab60582024-02-24T00:00:20ZengIEEEIEEE Access2169-35362024-01-0112258202583410.1109/ACCESS.2024.336554210433474Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input QuantizationWeichen Li0https://orcid.org/0009-0007-4785-9698Haitao Liu1https://orcid.org/0000-0003-0995-4655Xuehong Tian2https://orcid.org/0000-0003-0995-4655School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaIn this paper, a prescribed-time adaptive <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain multiple robot manipulators. First, a novel prescribed performance function is introduced into the asymmetric log-type barrier Lyapunov function, which can limit angle errors and reduce the loss of communication resources among multiple robot manipulators. Second, a new prescribed-time leader state estimation observer is proposed to estimate the leader’s state information and pass it to the other followers without acceleration information. Third, a prescribed-time adaptive command filter is designed to solve the “explosion of the complexity” problem and improves the convergence performance of the control system. Fourth, an adaptive prescribed-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty }$ </tex-math></inline-formula> cooperative controller with novel prescribed performance and input quantization is designed. Finally, simulation examples are presented to evaluate the stability of the proposed control system.https://ieeexplore.ieee.org/document/10433474/Prescribed-time H∞ controlnovel prescribed performanceasymmetric log-type barrier Lyapunov functionprescribed-time leader state estimation observerprescribed-time adaptive command filtermultiple robot manipulators |
| spellingShingle | Weichen Li Haitao Liu Xuehong Tian Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization IEEE Access Prescribed-time H∞ control novel prescribed performance asymmetric log-type barrier Lyapunov function prescribed-time leader state estimation observer prescribed-time adaptive command filter multiple robot manipulators |
| title | Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization |
| title_full | Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization |
| title_fullStr | Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization |
| title_full_unstemmed | Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization |
| title_short | Observer-Based Adaptive Prescribed- Time <italic>H</italic><sub>∞</sub> Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization |
| title_sort | observer based adaptive prescribed time italic h italic sub x221e sub coordinated control for multiple robot manipulators with prescribed performance and input quantization |
| topic | Prescribed-time H∞ control novel prescribed performance asymmetric log-type barrier Lyapunov function prescribed-time leader state estimation observer prescribed-time adaptive command filter multiple robot manipulators |
| url | https://ieeexplore.ieee.org/document/10433474/ |
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