Simultaneous Stabilization Control Of Multi-robot Systems With Application Research

In recent years,with the advancement and development of science and technology and intelligent manufacturing technology,robotics has attracted much attention.It is worth pointing out that the robot is an intense nonlinear system with complex and changeable structure.In the process of control operation,there are structural uncertainties,external disturbances,time delays and other factors that affect the performance of the robot.In addition,in the field of modern industry,the production lines covered by robot systems are becoming increasingly huge,and the missions are becoming more and more difficult.It is difficult for a single robot to meet complex production needs.Therefore,in a large-scale and complex operating environment,the simultaneous operation of multiple robots is inevitable,and the multi-robot cooperative work mode has become the general trend of industrial development.However,in practical applications,designing a separate controller for each robot system is not ideal,and the cost is high,which means that the design problem of simultaneous stabilization of multiple robots needs to be considered.Therefore,this paper fully considers the factors such as interference,saturation,selfuncertainty and time delay in the operation of multi-robots,combined with Hamilton’s system control theory,the application of unified partial derivative operator(UP-DO),orthogonal decomposition method and extended dimensional technology studies the simultaneous stabilization of multi-robot systems,and designs infinite-time and finitetime robust simultaneous stabilization controllers,which effectively solve the key problems in robot control and lay a good foundation for its practical application.The main research contents of this paper are as follows:(1)Considering that the multi-robot operation process will be affected by external disturbances,the robust simultaneous stabilization of multiple n-degree-of-freedom(nDOF)robot systems is studied by applying the Hamilton function method.First,the nDOF robotic system is transformed into an equivalent Hamilton model.On this basis,the two robot systems are extended into a high-dimensional robot Hamilton system by applying dimension expansion technology.Based on this,the simultaneous stabilization control of multi-robot systems is studied,and the external disturbance of multi-robot systems is fully considered.A robust simultaneous stabilization control scheme for multirobot systems is presented.Finally,its effectiveness is verified by a robust simultaneous stabilization simulation experiment of three robots.(2)The robust adaptive simultaneous stabilization of multiple n-DOF robot systems is studied by using the Hamilton function method,and the corresponding control results are given.Then,considering the parameter uncertainty of the multi-robot system,the robust adaptive simultaneous stabilization control problem of the multi-robot system is studied,and several multi-robot robust adaptive simultaneous stabilization results are given.Finally,the simulation results verify that the robust adaptive simultaneous stabilization controller designed in this paper is very effective for stabilization control of multi-robot systems.(3)Based on the general form of nonlinear systems,finite-time robust stabilization and robust simultaneous stabilization of saturated time-delay systems are studied.Firstly,finite-time robust stabilization results for time-delay saturated nonlinear systems are obtained by using Hamilton method and energy shaping method.On this basis,this method is extended to study a group of time-delay saturated nonlinear systems,and the corresponding finite-time robust simultaneous stabilization controller is designed for them.Finally,the obtained finite-time robust simultaneous stabilization scheme is applied to a group of actual manipulator systems,which verifies the effectiveness of the proposed control scheme.