Boundary Stabilization of Underground Multirobot System with Virtual String Constraints

Lingling Su, Xianhua Zheng, Yongshi Song, Shang Feng, Lin Zhang and Phang Chang

Journal of Mathematics, 2022, vol. 2022, 1-12

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.

Date: 2022
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jjmath:5336512

DOI: 10.1155/2022/5336512

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