Distributed coordinated tracking control for multi-manipulator systems under intermittent communications

doi:10.1007/s11071-021-07159-8

CORC > 自动化研究所 > 中国科学院自动化研究所 > 综合信息系统研究中心 > 飞行器智能技术

	Distributed coordinated tracking control for multi-manipulator systems under intermittent communications
	Zhang, Yuhang 3; Jiang, Yulian 3; Zhang, Wenle 2; Ai, Xiaolin 1
刊名	NONLINEAR DYNAMICS
	2022-01-11
页码	19
关键词	Multi-manipulator systems Multi-agent systems Coordinated tracking control Estimator Intermittent communications
ISSN号	0924-090X
DOI	10.1007/s11071-021-07159-8
通讯作者	Jiang, Yulian(jiang_harmony@163.com)
英文摘要	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.
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]
WOS关键词	MULTIAGENT SYSTEMS ; COOPERATIVE CONTROL ; CONSENSUS ; CONTAINMENT
WOS研究方向	Engineering ; Mechanics
语种	英语
出版者	SPRINGER
WOS记录号	WOS:000741594500001
资助机构	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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47057]
专题	综合信息系统研究中心_飞行器智能技术
通讯作者	Jiang, Yulian
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing, Peoples R China 2.Ocean Univ China, Coll Engn, Qingdao, Peoples R China 3.Changchun Univ Technol, Dept Elect & Elect Engn, Changchun, 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.