Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches
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Publication:325844
DOI10.1016/J.JFRANKLIN.2016.06.025zbMATH Open1347.93122arXiv1607.07543OpenAlexW2505251235WikidataQ59897726 ScholiaQ59897726MaRDI QIDQ325844FDOQ325844
Ming Chi, Chao Yang, Ming-Feng Ge, Ding-Fu Zheng, Zhi-Hong Guan, Chao-Yang Chen
Publication date: 11 October 2016
Published in: Journal of the Franklin Institute (Search for Journal in Brave)
Abstract: This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control, distributed controller-estimator algorithms (DCEA), which consist of local algorithms and networked algorithms, are developed for MHMs with parametric uncertainties and input disturbances. By invoking differential inclusions, nonsmooth analysis, and input-to-state stability, some conditions (including sufficient conditions, necessary and sufficient conditions) on the asymptotic stability of the task-space tracking errors and the subtask errors are developed. Simulation results are given to show the effectiveness of the presented DCEA.
Full work available at URL: https://arxiv.org/abs/1607.07543
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asymptotic stabilitycoordinated trackingdifferential inclusionsinput-to-state stabilitynonsmooth analysisdistributed controller-estimator algorithms (DCEA)multiple heterogeneous manipulatortime-varying leader
Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)
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Cited In (8)
- Optimal tracking performance of discrete-time systems with quantization
- Task-space bipartite tracking of networked robotic systems via hierarchical finite-time control
- Task-space fully distributed tracking control of networked uncertain robotic manipulators without velocity measurements
- Adaptive coordinated control of uncertain free-floating space manipulators with prescribed control performance
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- Adaptive task‐space cooperative tracking control for manipulators with a desired trajectory estimator and a velocity observer
- Synchronization control for multiple heterogeneous robotic systems with parameter uncertainties and communication delays
- Formation-containment control for multi-robot systems with two-layer leaders via hierarchical controller-estimator algorithms
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