Robust Anti-Disturbance Coordinated Control for Multiple Manipulators
文献类型：期刊论文
| 作者 | Fu, Jianting2,3 ; Li, Yankai1; Yin, Shaoyun2,3; Zheng, Bin2; Yuan, Jiahu2,3
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| 刊名 | IEEE ACCESS
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| 出版日期 | 2020 |
| 卷号 | 8页码:95897-95905 |
| 关键词 | Control systems Adaptive control Stochastic processes Robustness Manipulator dynamics Mathematical model Disturbance-observer-based-control adaptive control multiple manipulators stochastic system |
| ISSN号 | 2169-3536 |
| DOI | 10.1109/ACCESS.2020.2995770 |
| 通讯作者 | Yuan, Jiahu(yjh@cigit.ac.cn) |
| 英文摘要 | In this paper, the anti-disturbance coordinated control is investigated for the multiple mobile manipulators with disturbances. Some disturbances are induced by the random white noise; the others are assumed to be described by an external system. These disturbances are rejected and attenuated based on the disturbance-observer-based-control (DOBC) method and the adaptive control approach. Subsequently, a robust adaptive antidisturbance coordinated control strategy is proposed for the multiple mobile manipulators based on the back-stepping control scheme. In accordance with Lyapunov stability theory and the stochastic control theory foundation, the tracking error systems are guaranteed to be exponentially practically stable in mean square. Finally, an example is used to verify the effectiveness of the presented control method. |
| 资助项目 | National Key Research and Development Program of China[2017YFB1002902] ; Priority Research and Design Program of Chongqing Technology Innovation and Application Demonstration[cstc2017zdcy-zdyfX0036] ; Priority Research and Design Program of Chongqing Technology Innovation and Application Demonstration[cstc2018jszx-cyztzxX0003] |
| WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000541139500060 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/11264]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Yuan, Jiahu |
| 作者单位 | 1.Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China 2.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing 400714, Peoples R China 3.Univ Chinese Acad Sci, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Fu, Jianting,Li, Yankai,Yin, Shaoyun,et al. Robust Anti-Disturbance Coordinated Control for Multiple Manipulators[J]. IEEE ACCESS,2020,8:95897-95905. |
| APA | Fu, Jianting,Li, Yankai,Yin, Shaoyun,Zheng, Bin,&Yuan, Jiahu.(2020).Robust Anti-Disturbance Coordinated Control for Multiple Manipulators.IEEE ACCESS,8,95897-95905. |
| MLA | Fu, Jianting,et al."Robust Anti-Disturbance Coordinated Control for Multiple Manipulators".IEEE ACCESS 8(2020):95897-95905. |
入库方式： OAI收割
来源：重庆绿色智能技术研究院
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