Non-fragile consensus control of networked robotic manipulators with topology-dependent memory

doi:10.1108/AA-01-2018-001

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	Non-fragile consensus control of networked robotic manipulators with topology-dependent memory
	Ma, Chao 1; Li, Rui2 ; Qiao, Hong2,3
发表期刊	ASSEMBLY AUTOMATION
ISSN	0144-5154
	2018
卷号	38 期号:5 页码:625-634
通讯作者	Ma, Chao(cma@ustb.edu.cn)
摘要	Purpose The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent memory. Design/methodology/approach This paper proposes a topology-dependent memory protocol with distributed consensus controllers for multiple networked robotic manipulators. Findings The distributed controller gain fluctuations are taken into account with sampled data information exchanges. By the derived results of model transformation, the topology-dependent memory protocol is investigated using sufficient consensus criteria in the form of linear matrix inequalities. Originality/value A novel consensus protocol with topology-dependent memory is designed, which can potentially improve consensus performance and deal with the controller gain fluctuations of the robotic manipulators in practical applications.
关键词	Robotic manipulators Consensus control Non-fragile consensus Topology-dependent memory
DOI	10.1108/AA-01-2018-001
关键词[WOS]	H-INFINITY ; SYSTEMS ; STABILITY
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61703038] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[9164820] ; National Key Research and Development Program of China[SQ2017YFB130092] ; National Natural Science Foundation of China[61703038] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[9164820] ; National Key Research and Development Program of China[SQ2017YFB130092]
项目资助者	National Natural Science Foundation of China ; National Key Research and Development Program of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing
WOS记录号	WOS:000452702800011
出版者	EMERALD GROUP PUBLISHING LTD
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/25668
专题	多模态人工智能系统全国重点实验室_机器人理论与应用
通讯作者	Ma, Chao
作者单位	1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Ctr Excellence Brain Sci & Intelligence Technol, Inst Neurosci, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Ma, Chao,Li, Rui,Qiao, Hong. Non-fragile consensus control of networked robotic manipulators with topology-dependent memory[J]. ASSEMBLY AUTOMATION,2018,38(5):625-634.
APA	Ma, Chao,Li, Rui,&Qiao, Hong.(2018).Non-fragile consensus control of networked robotic manipulators with topology-dependent memory.ASSEMBLY AUTOMATION,38(5),625-634.
MLA	Ma, Chao,et al."Non-fragile consensus control of networked robotic manipulators with topology-dependent memory".ASSEMBLY AUTOMATION 38.5(2018):625-634.