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Boundary Stabilization of Underground Multirobot System with Virtual String Constraints

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

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.

Suggested Citation

  • Lingling Su & Xianhua Zheng & Yongshi Song & Shang Feng & Lin Zhang & Phang Chang, 2022. "Boundary Stabilization of Underground Multirobot System with Virtual String Constraints," Journal of Mathematics, Hindawi, vol. 2022, pages 1-12, February.
    • Handle: RePEc:hin:jjmath:5336512
    DOI: 10.1155/2022/5336512
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