| Autor: |
Lingling Su, Xianhua Zheng, Yongshi Song, Shang Feng, Lin Zhang |
| Jazyk: |
angličtina |
| Rok vydání: |
2022 |
| Předmět: |
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| Zdroj: |
Journal of Mathematics, Vol 2022 (2022) |
| Druh dokumentu: |
article |
| ISSN: |
2314-4785 |
| DOI: |
10.1155/2022/5336512 |
| Popis: |
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: |
Directory of Open Access Journals |
| Externí odkaz: |
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