Boundary Stabilization of Underground Multirobot System with Virtual String Constraints
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 backsteppin...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-01-01
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| Series: | Journal of Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2022/5336512 |
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| _version_ | 1832565595386675200 |
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| author | Lingling Su Xianhua Zheng Yongshi Song Shang Feng Lin Zhang |
| author_facet | Lingling Su Xianhua Zheng Yongshi Song Shang Feng Lin Zhang |
| author_sort | Lingling Su |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-91d40dc0dc9445f583753e67486b7beb |
| institution | Kabale University |
| issn | 2314-4785 |
| language | English |
| publishDate | 2022-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Mathematics |
| spelling | doaj-art-91d40dc0dc9445f583753e67486b7beb2025-02-03T01:07:12ZengWileyJournal of Mathematics2314-47852022-01-01202210.1155/2022/5336512Boundary Stabilization of Underground Multirobot System with Virtual String ConstraintsLingling Su0Xianhua Zheng1Yongshi Song2Shang Feng3Lin Zhang4College of ScienceSchool of Robot EngineeringSchool of Robot EngineeringFaculty of ComputingSchool of Robot EngineeringThe 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.http://dx.doi.org/10.1155/2022/5336512 |
| spellingShingle | Lingling Su Xianhua Zheng Yongshi Song Shang Feng Lin Zhang Boundary Stabilization of Underground Multirobot System with Virtual String Constraints Journal of Mathematics |
| title | Boundary Stabilization of Underground Multirobot System with Virtual String Constraints |
| title_full | Boundary Stabilization of Underground Multirobot System with Virtual String Constraints |
| title_fullStr | Boundary Stabilization of Underground Multirobot System with Virtual String Constraints |
| title_full_unstemmed | Boundary Stabilization of Underground Multirobot System with Virtual String Constraints |
| title_short | Boundary Stabilization of Underground Multirobot System with Virtual String Constraints |
| title_sort | boundary stabilization of underground multirobot system with virtual string constraints |
| url | http://dx.doi.org/10.1155/2022/5336512 |
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