| Autor: |
Su, Lingling, Zheng, Xianhua, Song, Yongshi, Feng, Shang, Zhang, Lin |
| Zdroj: |
Journal of Mathematics; 2022, Vol. 2022 Issue: 1 |
| Abstrakt: |
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. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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