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| Finite-time Containment Control for Stochastic Multiple Manipulator Systems |
| SONG Yuewei, ZHAO Lin
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| School of Automation, Qingdao University, Qingdao 266071, China |
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Abstract A fast finite time containment control strategy is designed for multi-manipulator systems in random vibration environment. The addition of finite-time filter avoids the problem of ‘computation explosion’ when differentiating the virtual control signals by traditional backstepping 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. Using the relative threshold-event-triggered mechanism effectively reduces resource waste and communication 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.
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Received: 21 June 2023
Published: 03 January 2025
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