Adaptive position feedback consensus of networked robotic manipulators with uncertain parameters and communication delays
In this study, the authors address the leaderless consensus problem of multiple robotic manipulators with communication delays. Taking dynamic uncertainties of the robotic agents into consideration, they perform the distributed adaptive position feedback control scheme design for strongly connected...
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| Published in | IET control theory & applications Vol. 9; no. 13; pp. 1956 - 1963 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
The Institution of Engineering and Technology
27.08.2015
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| Online Access | Get full text |
| ISSN | 1751-8644 1751-8652 |
| DOI | 10.1049/iet-cta.2014.1125 |
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| Abstract | In this study, the authors address the leaderless consensus problem of multiple robotic manipulators with communication delays. Taking dynamic uncertainties of the robotic agents into consideration, they perform the distributed adaptive position feedback control scheme design for strongly connected information topology, where the communication is subject to constant and bounded time delays. The novel distributed sliding observer is first proposed such that the joint velocities can be estimated online. Then, the distributed adaptive controller with dynamic parameter updating is constructed based on the observed information. The convergence of consensus errors is proved with Lyapunov stability analysis tool. Finally, simulations are performed on networked robotic manipulators to validate the effectiveness of the theoretical approach. |
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| AbstractList | In this study, the authors address the leaderless consensus problem of multiple robotic manipulators with communication delays. Taking dynamic uncertainties of the robotic agents into consideration, they perform the distributed adaptive position feedback control scheme design for strongly connected information topology, where the communication is subject to constant and bounded time delays. The novel distributed sliding observer is first proposed such that the joint velocities can be estimated online. Then, the distributed adaptive controller with dynamic parameter updating is constructed based on the observed information. The convergence of consensus errors is proved with Lyapunov stability analysis tool. Finally, simulations are performed on networked robotic manipulators to validate the effectiveness of the theoretical approach. |
| Author | Wang, Lijiao Meng, Bin |
| Author_xml | – sequence: 1 givenname: Lijiao surname: Wang fullname: Wang, Lijiao organization: 1Beijing Institute of Control Engineering, Beijing 100190, People's Republic of China – sequence: 2 givenname: Bin surname: Meng fullname: Meng, Bin email: mengb@amss.ac.cn organization: 2Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190, People's Republic of China |
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| CitedBy_id | crossref_primary_10_1007_s12083_019_00751_1 crossref_primary_10_1177_0020294020911084 crossref_primary_10_1049_iet_cta_2016_0129 crossref_primary_10_1016_j_jfranklin_2017_06_010 crossref_primary_10_1109_TAC_2017_2771154 crossref_primary_10_1007_s12555_015_0449_5 crossref_primary_10_1007_s40815_023_01641_8 crossref_primary_10_4018_IJERTCS_2016010103 crossref_primary_10_1049_iet_cta_2018_5802 |
| Cites_doi | 10.1109/ICSMC.2008.4811706 10.1007/978-3-540-37347-6_6 10.1109/9.151115 10.1007/978-1-84800-015-5 10.1109/TIE.2013.2275976 10.1007/s10846-012-9674-9 10.1007/978-1-4613-0163-9 10.1080/00207170902948027 10.1002/rnc.1326 10.1007/978-1-4471-3668-2 10.1016/j.automatica.2010.10.050 10.1016/j.automatica.2003.12.007 10.1109/TRO.2010.2051594 10.1109/TAC.2004.834113 10.1016/0005-1098(91)90041-Y 10.1109/CDC.2004.1429499 10.1016/j.automatica.2009.07.006 10.1109/TRO.2005.862037 10.1109/TAC.2010.2103415 10.1109/TAC.2005.846556 10.1109/TAC.2010.2041974 10.1109/TCST.2004.825065 10.1109/JPROC.2006.887293 |
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| Keywords | convergence manipulators uncertain parameters multi-robot systems control system synthesis adaptive control networked robotic manipulators time delays dynamic uncertainties distributed adaptive position feedback control scheme design feedback Lyapunov stability analysis tool delays distributed sliding observer information topology networked control systems position control communication delays stability observers robotic agents Lyapunov methods |
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| SubjectTerms | adaptive control communication delays control system synthesis Control theory convergence Delay delays distributed adaptive position feedback control scheme design distributed sliding observer dynamic uncertainties Dynamics feedback Feedback control information topology Lyapunov methods Lyapunov stability analysis tool Manipulators multi‐robot systems networked control systems networked robotic manipulators observers position control Robot arms robotic agents Robotics stability Stability analysis time delays uncertain parameters |
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| Title | Adaptive position feedback consensus of networked robotic manipulators with uncertain parameters and communication delays |
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