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Non-fragile consensus control of networked robotic manipulators with topology-dependent memory

文献类型：期刊论文

作者Ma, Chao1; Li, Rui2; Qiao, Hong2,3
刊名ASSEMBLY AUTOMATION
出版日期2018
卷号38期号:5页码:625-634
关键词Robotic manipulators Consensus control Non-fragile consensus Topology-dependent memory
ISSN号0144-5154
DOI10.1108/AA-01-2018-001
通讯作者Ma, Chao(cma@ustb.edu.cn)
英文摘要Purpose The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent memory. Design/methodology/approach This paper proposes a topology-dependent memory protocol with distributed consensus controllers for multiple networked robotic manipulators. Findings The distributed controller gain fluctuations are taken into account with sampled data information exchanges. By the derived results of model transformation, the topology-dependent memory protocol is investigated using sufficient consensus criteria in the form of linear matrix inequalities. Originality/value A novel consensus protocol with topology-dependent memory is designed, which can potentially improve consensus performance and deal with the controller gain fluctuations of the robotic manipulators in practical applications.
WOS关键词H-INFINITY ; SYSTEMS ; STABILITY
资助项目National Natural Science Foundation of China[61703038] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[9164820] ; National Key Research and Development Program of China[SQ2017YFB130092]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000452702800011
出版者EMERALD GROUP PUBLISHING LTD
资助机构National Natural Science Foundation of China ; National Key Research and Development Program of China
源URL[http://ir.ia.ac.cn/handle/173211/25667]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Ma, Chao
作者单位1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
3.Ctr Excellence Brain Sci & Intelligence Technol, Inst Neurosci, Shanghai, Peoples R China
推荐引用方式
GB/T 7714		 Ma, Chao,Li, Rui,Qiao, Hong. Non-fragile consensus control of networked robotic manipulators with topology-dependent memory[J]. ASSEMBLY AUTOMATION,2018,38(5):625-634.
APA Ma, Chao,Li, Rui,&Qiao, Hong.(2018).Non-fragile consensus control of networked robotic manipulators with topology-dependent memory.ASSEMBLY AUTOMATION,38(5),625-634.
MLA Ma, Chao,et al."Non-fragile consensus control of networked robotic manipulators with topology-dependent memory".ASSEMBLY AUTOMATION 38.5(2018):625-634.

入库方式： OAI收割

来源：自动化研究所

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