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]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China;[2]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[3]Guangdong Engn Technol Res Ctr Ocean Equipment &, Zhanjiang 524088, Peoples R China

年份：2025

卷号：13

起止页码：12055

外文期刊名：IEEE ACCESS

收录：SCI-EXPANDED(收录号：WOS:001409721300037)、、EI(收录号：20250317720481)、Scopus(收录号：2-s2.0-85215209648)、WOS

基金：This work was supported in part by Shenzhen Science and Technology Program under Grant JCYJ20220530162014033, in part by Guangdong Basic and Applied Basic Research Foundation under Grant 2024A1515011345, in part by the Key Project of the Department of Education of Guangdong Province under Grant 2023ZDZX1005, and in part by the Innovation Team Project for Ordinary Universities in Guangdong Province under Grant 2024KCXTD041.

语种：英文

外文关键词：Robots; Filtering theory; Convergence; Multi-robot systems; Control systems; Adaptive filters; Upper bound; Uncertainty; Robustness; Observers; Multi-robot systems; adjustable prescribed performance function; predefined-time H-infinity control; predefined-time adaptive command filter; actuator saturation

外文摘要：A predefined-time H-infinity 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-infinity 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-infinity 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.