【摘 要】
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In this paper, the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom (n-DOF) robot systems is studied using the Hamiltonian function method, and the corresponding adaptive L 2 controller is designed. First, we in
【机 构】
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School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan 250357,S
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In this paper, the adaptive robust simultaneous stabilization problem of uncertain multiple n-degree-of-freedom (n-DOF) robot systems is studied using the Hamiltonian function method, and the corresponding adaptive L 2 controller is designed. First, we investigate the adaptive simultaneous stabilization problem of uncertain multiple n-DOF robot systems without external disturbance. Namely, the single uncertain n-DOF robot system is transformed into an equivalent Hamiltonian form using the unified partial derivative operator (UP-DO) and potential energy shaping method, and then a high dimensional Hamiltonian system for multiple uncertain robot systems is obtained by applying augmented dimension technology, and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system. On this basis, we further study the adaptive robust simultaneous stabilization control problem for the uncertain multiple n-DOF robot systems with external disturbances, and design an adaptive robust simultaneous stabilization controller. Finally, the simulation results show that the adaptive robust simultaneous stabilization controller designed in this paper is very effective in stabilizing multi-robot systems at the same time.
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