The graphical abstract describes the block diagram of the control structure of the proposed controller.
Abstract:
A predefined-time H_{\infty } coordinated formation controller with an adjustable prescribed performance function (PPF) and an adaptive command filter is proposed fo...Show MoreMetadata
Abstract:
A predefined-time H_{\infty } 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_{\infty } 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_{\infty } 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.
The graphical abstract describes the block diagram of the control structure of the proposed controller.
Published in: IEEE Access ( Volume: 13)