Task-space Cooperative Tracking Control of Multi-robot Systems with Unknown Parameters and Time Delays
Refereed conference paper presented and published in conference proceedings

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摘要In this paper, the task-space cooperative tracking control problem of multi-robot systems on strongly connected digraphs is studied. To solve such synchronization problem, a novel adaptive control approach is proposed by introducing task-space synchronization errors between neighboring robotic systems into the task-space reference velocity/acceleration. To cope with unknown kinematic and dynamic parameters, adaptive laws are developed without explicitly incorporating synchronization terms. Lyapunov stability theory is used to rigorously prove asymptotical convergence of the task-space synchronization and tracking errors by fully considering the time delays. Finally, simulation results are given to illustrate the performance of the proposed task-space cooperative tracking control approach.
著者X. Liang, H. Wang, Y. Liu, W. Chen, L. Xie
會議名稱2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
會議開始日09.07.2018
會議完結日12.07.2018
會議地點Auckland
會議國家/地區新西蘭
會議論文集題名2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
詳細描述In this paper, the task-space cooperative tracking control problem of multi-robot systems on strongly connected digraphs is studied. To solve such synchronization problem, a novel adaptive control approach is proposed by introducing task-space synchronization errors between neighboring robotic systems into the task-space reference velocity/acceleration. To cope with unknown kinematic and dynamic parameters, adaptive laws are developed without explicitly incorporating synchronization terms. Lyapunov stability theory is used to rigorously prove asymptotical convergence of the task-space synchronization and tracking errors by fully considering the time delays. Finally, simulation results are given to illustrate the performance of the proposed task-space cooperative tracking control approach.
出版年份2018
月份9
出版社IEEE
頁次57 - 62
國際標準書號978-1-5386-1854-7
電子國際標準期刊號2159-6255
語言英式英語
關鍵詞acceleration control; adaptive control; control system synthesis; delay systems; directed graphs; Lyapunov methods; multi-robot systems; robot dynamics; robot kinematics; stability; synchronisation; velocity control; task-space synchronization errors; robotic systems; task-space reference velocity/acceleration; dynamic parameters; adaptive laws; synchronization terms; tracking errors; time delays; multirobot systems; task-space cooperative tracking control problem; strongly connected digraphs; adaptive control approach; kinematic parameters; Lyapunov stability theory; Task analysis; Robot kinematics; Kinematics; Multi-robot systems; Synchronization; Aerospace electronics; Adaptive control; cooperative tracking; communication delays; multi-robot systems; uncertain kinematics and dynamics

上次更新時間 2021-27-11 於 23:57