Knowledge Commons of Institute of Automation,CAS
Distributed coordinated tracking control for multi-manipulator systems under intermittent communications | |
Zhang, Yuhang1; Jiang, Yulian1; Zhang, Wenle2; Ai, Xiaolin3![]() | |
发表期刊 | NONLINEAR DYNAMICS
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ISSN | 0924-090X |
2022-01-11 | |
页码 | 19 |
通讯作者 | Jiang, Yulian(jiang_harmony@163.com) |
摘要 | The distributed coordinated tracking control problem for multiple robotic manipulators under intermittent communications is researched, respectively, with a stationary leader and a dynamic leader in this note. First, three auxiliary variables are introduced and a new distributed coordinated tracking controller is established with a stationary leader, and then, a multi-step design algorithm is proposed to calculate the controller gain matrix and coupling gain. The stability of the controller is further proved, and the range of communication rate is obtained by using Lyapunov stability and switching system theories. Second, with considering a dynamic leader whose joint velocity is unavailable, the distributed velocity estimator is constructed to estimate the unknown joint velocity, and then, a distributed coordinated tracking control strategy-based velocity estimator is designed, whose unknown parameters are resolved by the new multi-step design algorithm accordingly. It is proved that the stability of the controller can be achieved, and the threshold value of the communication rate obtained by utilizing Lyapunov stability theory and LMI technology. Finally, two simulation examples and quantitative comparison are provided to demonstrate the validity and correctness of the obtained methods, and the experimented results show that the distributed tracking controllers of this work can effectively solve the distributed coordinated tracking problem for multiple two-link manipulator systems under intermittent communications. |
关键词 | Multi-manipulator systems Multi-agent systems Coordinated tracking control Estimator Intermittent communications |
DOI | 10.1007/s11071-021-07159-8 |
关键词[WOS] | MULTIAGENT SYSTEMS ; COOPERATIVE CONTROL ; CONSENSUS ; CONTAINMENT |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61503045] ; National Natural Science Foundation of China[61806079] ; Key Science and Technology Projects of Jilin Province[20200401075GX] ; Science andTechnology of Education Department of Jilin Province[JJKH20210743KJ] ; China Postdoctoral Science Foundation[2018M641939] |
项目资助者 | National Natural Science Foundation of China ; Key Science and Technology Projects of Jilin Province ; Science andTechnology of Education Department of Jilin Province ; China Postdoctoral Science Foundation |
WOS研究方向 | Engineering ; Mechanics |
WOS类目 | Engineering, Mechanical ; Mechanics |
WOS记录号 | WOS:000741594500001 |
出版者 | SPRINGER |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47058 |
专题 | 复杂系统认知与决策实验室_飞行器智能技术 |
通讯作者 | Jiang, Yulian |
作者单位 | 1.Changchun Univ Technol, Dept Elect & Elect Engn, Changchun, Peoples R China 2.Ocean Univ China, Coll Engn, Qingdao, Peoples R China 3.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China |
推荐引用方式 GB/T 7714 | Zhang, Yuhang,Jiang, Yulian,Zhang, Wenle,et al. Distributed coordinated tracking control for multi-manipulator systems under intermittent communications[J]. NONLINEAR DYNAMICS,2022:19. |
APA | Zhang, Yuhang,Jiang, Yulian,Zhang, Wenle,&Ai, Xiaolin.(2022).Distributed coordinated tracking control for multi-manipulator systems under intermittent communications.NONLINEAR DYNAMICS,19. |
MLA | Zhang, Yuhang,et al."Distributed coordinated tracking control for multi-manipulator systems under intermittent communications".NONLINEAR DYNAMICS (2022):19. |
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