Boundary Stabilization of Underground Multirobot System with Virtual String Constraints. (10th February 2022)

• Record Type: Journal Article
• Authors: Su, Lingling; Zheng, Xianhua; Song, Yongshi; Feng, Shang; Zhang, Lin
• Other Names: Chang Phang Academic Editor.
• Is Part Of: Journal of mathematics. Volume 2022(2022)
• Publication Date: 2022-02-10
• Subjects: Mathematics -- Periodicals; Mathematics; Periodicals; 510
• DOI: 10.1155/2022/5336512
• Languages: English
• ISSNs: 2314-4629

Abstract

Abstract : 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.