Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics
文献类型：期刊论文
| 作者 | Wang, Fujie1,2; Liu, Zhi2; Chen, C. L. Philip3,4,5; Zhang, Yun2 |
| 刊名 | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
 |
| 出版日期 | 2019-08-01 |
| 卷号 | 29期号:12页码:4149-4167 |
| 关键词 | actuator constraint cooperative control robotic manipulator uncertain dynamics uncertain kinematics |
| ISSN号 | 1049-8923 |
| DOI | 10.1002/rnc.4622 |
| 通讯作者 | Liu, Zhi(lz@gdut.edu.cn) |
| 英文摘要 | This paper addresses the control issue for cooperative visual servoing manipulators on strongly connected graph with communication delays, in which case that the uncertain robot dynamics and kinematics, uncalibrated camera model, and actuator constraint are simultaneously considered. An adaptive cooperative image-based approach is established to overcome the control difficulty arising from nonlinear coupling between visual model and robot agents. To estimate the coupled camera-robot parameters, a novel adaptive strategy is developed and its superiority mainly lies in the containment of both individual image-space errors and the synchronous errors among networked robots; thus, the cooperative performance is significantly strengthened. Moreover, the proposed cooperative controller with a Nussbaum-type gain is implemented to both globally stabilize the closed-loop systems and realize the synchronization control objective under the existence of unknown and time-varying actuator constraint. Finally, simulations are carried out to validate the developed approach. |
| WOS关键词 | NETWORKED ROBOTIC SYSTEMS ; MULTIAGENT SYSTEMS ; TRACKING CONTROL ; VISUAL TRACKING ; CONTAINMENT CONTROL ; CONSENSUS ; KINEMATICS ; FLOCKING ; AGENTS |
| 资助项目 | DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[GC300501-113] ; DGUT and Innovation Talent Program for Young Scholars of Guangdong Province[2018KQNCX252] ; National Natural Science Foundation of China[61573108] ; National Natural Science Foundation of China[U1501251] ; Natural Science Foundation of Guangdong Province[2016A030313715] ; Science Fund for Distinguished Young Scholars[S20120011437] ; Ministry of Education of New Century Excellent Talent[NCET-12-0637] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Mathematics |
| 语种 | 英语 |
| WOS记录号 | WOS:000474667300019 |
| 出版者 | WILEY |
| 资助机构 | DGUT and Innovation Talent Program for Young Scholars of Guangdong Province ; National Natural Science Foundation of China ; Natural Science Foundation of Guangdong Province ; Science Fund for Distinguished Young Scholars ; Ministry of Education of New Century Excellent Talent |
| 源URL | [http://ir.ia.ac.cn/handle/173211/26903]  |
| 专题 | 离退休人员 |
| 通讯作者 | Liu, Zhi |
| 作者单位 | 1.Dongguan Univ Technol, Sch Elect Engn & Intelligentizat, Dongguan, Peoples R China 2.Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Guangdong, Peoples R China 3.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau, Peoples R China 4.Dalian Maritime Univ, Nav Coll, Dalian, Peoples R China 5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China |
| 推荐引用方式 GB/T 7714 | Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,et al. Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2019,29(12):4149-4167. |
| APA | Wang, Fujie,Liu, Zhi,Chen, C. L. Philip,&Zhang, Yun.(2019).Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,29(12),4149-4167. |
| MLA | Wang, Fujie,et al."Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 29.12(2019):4149-4167. |
入库方式： OAI收割
来源：自动化研究所
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