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.
SONG Yuewei
,
ZHAO Lin
,
SONG Yuewei
,
ZHAO Lin
. Finite-time Containment Control for Stochastic Multiple Manipulator Systems[J]. Complex Systems and Complexity Science, 2024
, 21(4)
: 65
-72
.
DOI: 10.13306/j.1672-3813.2024.04.011
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