文献类型：期刊文献

英文题名：Predefined-time H∞ Cooperative Control for Multi-robot Systems based on Adjustable Prescribed Performance Control and Adaptive Command Filter

作者：Liu, Haitao[1,2,3]; Li, Weichen[1,2]; Huang, Xin[1,2]; Tian, Xuehong[1,2]; Mai, Qingqun[1,2]

机构：[1] Shenzhen Institute of Guangdong Ocean University, Shenzhen, 518120, China; [2] Guangdong Ocean University, School of Mechanical Engineering, Zhanjiang, 524088, China; [3] Guangdong Engineering Technology Research Center of Ocean Equipment and Manufacturing, Zhanjiang, 524088, China

年份：2025

卷号：13

起止页码：12055

外文期刊名：IEEE Access

收录：EI(收录号：20250317720481)、Scopus(收录号：2-s2.0-85215209648)

语种：英文

外文关键词：Adaptive control systems - Adaptive filtering - Adaptive filters - Bandpass filters - Industrial robots - Intelligent robots - Nonlinear control systems - Numerical control systems - Robot applications - Robustness (control systems) - Time varying control systems

外文摘要：In this paper, a predefined-time H∞ cooperative controller with an adjustable prescribed performance function (PPF) and an adaptive command filter is proposed for multi-robot systems. 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, a predefined-time adaptive command filter is designed to prevent "explosion of the complexity"problems and improve the convergence speed and filter precision. Third, a predefined-time H∞ control theory is developed to guarantee that the nonlinear system has global predefined-time stability and that the L2 gain is less than γ. Fourth, a predefined-time H∞ cooperative 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 numerical simulation results verify the effectiveness and performance of the control system. ? 2025 IEEE.