文献类型：期刊文献

英文题名：Observer-Based Adaptive Prescribed- Time H_∞ Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization

作者：Li, Weichen[1];Liu, Haitao[1,2,3];Tian, Xuehong[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China;[3]Guangdong Engn Technol Res Ctr Ocean Equipment & M, Zhanjiang 524088, Peoples R China

年份：2024

卷号：12

起止页码：25820

外文期刊名：IEEE ACCESS

收录：SCI-EXPANDED(收录号：WOS:001173227300001)、、EI(收录号：20240815579922)、Scopus(收录号：2-s2.0-85186166143)、WOS

基金：No Statement Available

语种：英文

外文关键词：Prescribed-time H-infinity control; novel prescribed performance; asymmetric log-type barrier Lyapunov function; prescribed-time leader state estimation observer; prescribed-time adaptive command filter; multiple robot manipulators

外文摘要：In this paper, a prescribed-time adaptive H-infinity cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain multiple robot manipulators. First, a novel prescribed performance function is introduced into the asymmetric log-type barrier Lyapunov function, which can limit angle errors and reduce the loss of communication resources among multiple robot manipulators. Second, a new prescribed-time leader state estimation observer is proposed to estimate the leader's state information and pass it to the other followers without acceleration information. Third, a prescribed-time adaptive command filter is designed to solve the "explosion of the complexity" problem and improves the convergence performance of the control system. Fourth, an adaptive prescribed-time H-infinity cooperative controller with novel prescribed performance and input quantization is designed. Finally, simulation examples are presented to evaluate the stability of the proposed control system.