Finite-time Containment Control for Stochastic Multiple Manipulator Systems
A fast finite time containment control strategy is designed for multi-manipulator sys-tems in random vibration environment.The addition of finite-time filter avoids the problem of'computation explosion'when differentiating the virtual control signals by traditional backstep-ping and improves the convergence speed of the systems by finite-time.By establishing the error compensation mechanism,the influence of filter errors to the control systems is eliminated.U-sing the relative threshold-event-triggered mechanism effectively reduces resource waste and com-munication burden.It proves that closed-loop systems are actually fast and finite time stable in mean square.The MATLAB simulation results show the effectiveness of the control strategy.
multi-manipulatorrandom vibrationfinite-time controlcontainment control
万方数据
维普
