Robust simultaneous stabilization of multiple <i>n</i>‐degree‐of‐freedom robot systems

摘要

Abstract In this paper, the robust simultaneous stabilization problem of multiple n ‐degree‐of‐freedom ( n ‐DOF) robot systems is studied by using Hamiltonian function method, and the corresponding L 2 interference suppression controller is designed. First, we investigate the general simultaneous stabilization of the multiple n ‐DOF robot systems without external disturbance. On this basis, we further study the robust simultaneous stabilization control problem for multiple n ‐DOF robot systems with external disturbance and design a simultaneous stabilization controller. Finally, the simulation results show that the simultaneous stabilization controller designed for the paper is very effective in stabilizing multiple robot systems at the same time.