Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter
A predefined-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> coordinated formation controller with an adjustable prescribed performance function (PPF) and an adaptive command filter is proposed for multi-robot systems in...
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2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10839388/ |
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| author | Haitao Liu Weichen Li Xin Huang Xuehong Tian Qingqun Mai |
| author_facet | Haitao Liu Weichen Li Xin Huang Xuehong Tian Qingqun Mai |
| author_sort | Haitao Liu |
| collection | DOAJ |
| description | A predefined-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> 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 <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> control theory is developed to guarantee that the nonlinear system has global predefined-time stabilization and that the <inline-formula> <tex-math notation="LaTeX">$L_{2}$ </tex-math></inline-formula> gain is less than <inline-formula> <tex-math notation="LaTeX">$\gamma $ </tex-math></inline-formula>. Fourth, the predefined-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> 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. |
| format | Article |
| id | doaj-art-9e97134cd46445cc8efdd97a658ea9f6 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| series | IEEE Access |
| spelling | doaj-art-9e97134cd46445cc8efdd97a658ea9f62025-01-24T00:01:41ZengIEEEIEEE Access2169-35362025-01-0113120551206710.1109/ACCESS.2025.352913010839388Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command FilterHaitao Liu0https://orcid.org/0000-0003-0995-4655Weichen Li1https://orcid.org/0009-0007-4785-9698Xin Huang2https://orcid.org/0000-0002-8212-372XXuehong Tian3https://orcid.org/0000-0001-6888-6635Qingqun Mai4Shenzhen Institute, Guangdong Ocean University, Shenzhen, ChinaShenzhen Institute, Guangdong Ocean University, Shenzhen, ChinaShenzhen Institute, Guangdong Ocean University, Shenzhen, ChinaShenzhen Institute, Guangdong Ocean University, Shenzhen, ChinaShenzhen Institute, Guangdong Ocean University, Shenzhen, ChinaA predefined-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> 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 <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> control theory is developed to guarantee that the nonlinear system has global predefined-time stabilization and that the <inline-formula> <tex-math notation="LaTeX">$L_{2}$ </tex-math></inline-formula> gain is less than <inline-formula> <tex-math notation="LaTeX">$\gamma $ </tex-math></inline-formula>. Fourth, the predefined-time <inline-formula> <tex-math notation="LaTeX">$H_{\infty } $ </tex-math></inline-formula> 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.https://ieeexplore.ieee.org/document/10839388/Multi-robot systemsadjustable prescribed performance functionpredefined-time H∞ controlpredefined-time adaptive command filteractuator saturation |
| spellingShingle | Haitao Liu Weichen Li Xin Huang Xuehong Tian Qingqun Mai Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter IEEE Access Multi-robot systems adjustable prescribed performance function predefined-time H∞ control predefined-time adaptive command filter actuator saturation |
| title | Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter |
| title_full | Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter |
| title_fullStr | Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter |
| title_full_unstemmed | Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter |
| title_short | Predefined-Time <italic>H</italic> <sub>∞</sub> Cooperative Control for Multi-Robot Systems Based on Adjustable Prescribed Performance Control and Adaptive Command Filter |
| title_sort | predefined time italic h italic sub x221e sub cooperative control for multi robot systems based on adjustable prescribed performance control and adaptive command filter |
| topic | Multi-robot systems adjustable prescribed performance function predefined-time H∞ control predefined-time adaptive command filter actuator saturation |
| url | https://ieeexplore.ieee.org/document/10839388/ |
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