Adaptive Cooperative Output Regulation for Multiple Flexible Manipulators
研究了多柔性机械臂的协同输出调节问题，提出一种不依赖全局图信息的全分布式观测器和基于障碍函数的滑模扰动观测器，能在有限时间内估计并抑制未知状态依赖扰动，且控制器无需末端状态信息。
This article studies the cooperative output regulation problem for multiple flexible manipulators. First, based on a two-parameter-correlated adaptive law, a new fully distributed observer is proposed. Different from the existing works, the observer does not depend on global graph information and can handle the uncertainties in the leader system. Second, a barrier-function-based sliding mode disturbance observer is proposed for the flexible manipulator to estimate the state-dependent disturbance. This new disturbance observer does not depend on the exact form of the disturbance. We show that the fully unknown state-dependent disturbance can be estimated and rejected in finite time. Finally, based on the proposed sliding mode disturbance observer, a new adaptive controller is proposed. The controller does not require the tip-end state information of the flexible manipulator, which is beneficial for the implementation. Both simulations and experiments show the validity of the presented method.