Finite time control for multi-robot rrms with unknown boundary control gains and output constraints
LI Shao-yu
WANG Fu-jie
ZHONG Jin-ming
LI Xing
GUO Fang
QIN Yi
SUN Ze-wen
Abstract：In this study,we propose a robust finite-time distributed adaptive control algorithm for multi-robot arm cooperative manipulation systems with unknown boundary control gains and full-state output constraints,based on integral barrier Lyapunov functions and radial basis function neural networks.The proposed algorithm employs adaptive radial basis function neural networks to approximate the unknown terms of the system,while the integral barrier Lyapunov function ensures that the position and velocity output signals do not violate constraints.By incorporating a Lyapunov function with an unknown lower bound for control gain and introducing auxiliary adjustment parameters in the control law,the compensation for unknown control gains is achieved without obtaining boundary value information.Finally,by combining finite-time stability theory and a backstepping control framework,the position,velocity,and internal force errors of the system are proven to converge within a finite time.
Keywords：unknown control gainsmulti-robot arm systemsintegral barrier Lyapunov functionsfinite-time control
Publication Date：2025-09-30
Online Publishing Date：2025-10-28(First online date of this platform, not the publication date of the document)
Pages：11( 1827-1837 )