Predefined-Time H ∞ Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter

IF 3.4 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2025-01-13 DOI:10.1109/ACCESS.2025.3529130

Haitao Liu;Weichen Li;Xin Huang;Xuehong Tian;Qingqun Mai

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引用次数: 0

Abstract

A predefined-time

$H_{\infty } $

coordinated formation controller with an adjustable prescribed performance function (PPF) and an adaptive command filter is proposed for multi-robot systems in this work. First, an adjustable prescribed performance function is developed to limit the angular error and adaptively adjust the state convergence performance subject to actuator saturation, which effectively avoids the singularity problem. Second, the “explosion of complexity” issue is solved by proposing a predefined-time adaptive command filter and accelerate the convergence time and improve filter precision. Third, the predefined-time

$H_{\infty } $

control theory is developed to guarantee that the nonlinear system has global predefined-time stabilization and that the

$L_{2}$

gain is less than

$\gamma $

. Fourth, the predefined-time

$H_{\infty } $

coordinated formation controller for multi-robot systems (MRSs) is designed to achieve strong robustness to various disturbances. Finally, all the signals in the control system are bounded and converge within the predefined time, and the results of the virtual simulation experiments verify the validity and performance of the MRSs.

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基于可调预定性能控制和自适应命令滤波的多机器人系统的预定义时间H∞协同控制

针对多机器人系统，提出了一种具有可调预定性能函数（PPF）和自适应命令滤波器的预定义时间$H_{\infty } $协调编队控制器。首先，建立了一种可调的规定性能函数，限制了角度误差，并根据执行器饱和情况自适应调整状态收敛性能，有效地避免了奇异性问题；其次，提出了一种预定义时间自适应命令滤波器，解决了“复杂度爆炸”问题，加快了收敛时间，提高了滤波精度；第三，提出了预定义时间$H_{\infty } $控制理论，保证非线性系统具有全局预定义时间镇定性，且$L_{2}$增益小于$\gamma $。第四，设计了多机器人系统（MRSs）的预定义时间$H_{\infty } $协调队列控制器，使其对各种干扰具有较强的鲁棒性。最后，控制系统中所有的信号都是有界的，并在预定的时间内收敛，虚拟仿真实验的结果验证了MRSs的有效性和性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

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