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Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach
Yufeng Lian; Xingtian Xiao; Jiliang Zhang; Long Jin; Junzhi Yu; Zhongbo Sun
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:7Pages:1605-1620
AbstractThis paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators (MOMMs). The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning (CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming (QP) and solved online utilizing a noise-tolerant zeroing neural network (NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.
KeywordCooperative motion control noise-tolerant zeroing neural network (NTZNN) omnidirectional mobile manipulator (OMM) repetitive motion planning
DOI10.1109/JAS.2024.124425
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57305
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Yufeng Lian,Xingtian Xiao,Jiliang Zhang,et al. Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(7):1605-1620.
APA Yufeng Lian,Xingtian Xiao,Jiliang Zhang,Long Jin,Junzhi Yu,&Zhongbo Sun.(2024).Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach.IEEE/CAA Journal of Automatica Sinica,11(7),1605-1620.
MLA Yufeng Lian,et al."Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach".IEEE/CAA Journal of Automatica Sinica 11.7(2024):1605-1620.
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