Simultaneous stabilization of multiple n-degree-of-freedom robot systems

In this paper, the simultaneous stabilization problem of multiple n-degree-of-freedom(n-DOF) robot systems is studied by applying Hamiltonian function method, and the corresponding controller is designed. Firstly, based on the unified partial derivative operator (UP-DO) and the method of potential energy regulating, the n-DOF robot system is transformed into an equivalent Hamiltonian form. Then, two n-DOF robot systems are extended to a higher dimensional Hamiltonian one by using the augmented dimension technology, and a single output feedback controller is designed to ensure the simultaneous stabilization for the higher dimensional Hamiltonian system. On this basis, the technique is extended to multiple robotic systems, and the corresponding simultaneous stabilization controller is presented for the multiple robotic systems. The simulation results show that the stabilization controller designed in this paper is very effective for the simultaneous stabilization of multiple n-DOF robot systems.