Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays

doi:10.1109/JAS.2022.105446

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays
	Long Jin; Xin Zheng; Xin Luo
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2022
卷号	9 期号:5 页码:854-863
摘要	Time-delay phenomena extensively exist in practical systems, e.g., multi-agent systems, bringing negative impacts on their stabilities. This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme. Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value, it is proved that all manipulators in the distributed network are able to reach a desired motion. The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem, and a neural dynamics solver is designed to solve it online. Then, the proposed neural dynamics solver is proved to be stable, convergent and robust. Additionally, the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated. Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.
关键词	Distributed collaborative control neural dynamics redundancy resolution repetitive motion planning (RMP) time delay
DOI	10.1109/JAS.2022.105446
引用统计	被引频次：28[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/173211/47549
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Long Jin,Xin Zheng,Xin Luo. Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(5):854-863.
APA	Long Jin,Xin Zheng,&Xin Luo.(2022).Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays.IEEE/CAA Journal of Automatica Sinica,9(5),854-863.
MLA	Long Jin,et al."Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays".IEEE/CAA Journal of Automatica Sinica 9.5(2022):854-863.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
JAS-2022-0027.pdf（9860KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载