Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics

doi:10.1002/rnc.4622

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	Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics
	Wang, Fujie 1,2; Liu, Zhi 2; Chen, C. L. Philip 3,4,5; Zhang, Yun 2
发表期刊	INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN	1049-8923
	2019-08-01
卷号	29 期号:12 页码:4149-4167
通讯作者	Liu, Zhi(lz@gdut.edu.cn)
摘要	This paper addresses the control issue for cooperative visual servoing manipulators on strongly connected graph with communication delays, in which case that the uncertain robot dynamics and kinematics, uncalibrated camera model, and actuator constraint are simultaneously considered. An adaptive cooperative image-based approach is established to overcome the control difficulty arising from nonlinear coupling between visual model and robot agents. To estimate the coupled camera-robot parameters, a novel adaptive strategy is developed and its superiority mainly lies in the containment of both individual image-space errors and the synchronous errors among networked robots; thus, the cooperative performance is significantly strengthened. Moreover, the proposed cooperative controller with a Nussbaum-type gain is implemented to both globally stabilize the closed-loop systems and realize the synchronization control objective under the existence of unknown and time-varying actuator constraint. Finally, simulations are carried out to validate the developed approach.
关键词	actuator constraint cooperative control robotic manipulator uncertain dynamics uncertain kinematics
DOI	10.1002/rnc.4622
关键词[WOS]	NETWORKED ROBOTIC SYSTEMS ; MULTIAGENT SYSTEMS ; TRACKING CONTROL ; VISUAL TRACKING ; CONTAINMENT CONTROL ; CONSENSUS ; KINEMATICS ; FLOCKING ; AGENTS
收录类别	SCI
语种	英语
资助项目	Ministry of Education of New Century Excellent Talent[NCET-12-0637] ; Science Fund for Distinguished Young Scholars[S20120011437] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; National Natural Science Foundation of China[U1501251] ; National Natural Science Foundation of China[61573108] ; DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[2018KQNCX252] ; DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[GC300501-113] ; DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[GC300501-113] ; DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[2018KQNCX252] ; National Natural Science Foundation of China[61573108] ; National Natural Science Foundation of China[U1501251] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; Science Fund for Distinguished Young Scholars[S20120011437] ; Ministry of Education of New Century Excellent Talent[NCET-12-0637]
项目资助者	DGUT and Innovation Talent Program for Young Scholars of Guangdong Province ; National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; Science Fund for Distinguished Young Scholars ; Ministry of Education of New Century Excellent Talent
WOS研究方向	Automation & Control Systems ; Engineering ; Mathematics
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Mathematics, Applied
WOS记录号	WOS:000474667300019
出版者	WILEY
引用统计	被引频次：6[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/26904
专题	离退休人员
通讯作者	Liu, Zhi
作者单位	1.Dongguan Univ Technol, Sch Elect Engn & Intelligentizat, Dongguan, Peoples R China 2.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China 3.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau, Peoples R China 4.Dalian Maritime Univ, Nav Coll, Dalian, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
推荐引用方式 GB/T 7714	Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,et al. Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2019,29(12):4149-4167.
APA	Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,&Zhang, Yun.(2019).Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,29(12),4149-4167.
MLA	Wang, Fujie,et al."Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 29.12(2019):4149-4167.