Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays
文献类型：期刊论文
| 作者 | Long Jin; Xin Zheng; Xin Luo |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2022 |
| 卷号 | 9期号:5页码:854-863 |
| 关键词 | Distributed collaborative control neural dynamics redundancy resolution repetitive motion planning (RMP) time delay |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2022.105446 |
| 英文摘要 | Time-delay phenomena extensively exist in practical systems, e.g., multi-agent systems, bringing negative impacts on their stabilities. This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme. Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value, it is proved that all manipulators in the distributed network are able to reach a desired motion. The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem, and a neural dynamics solver is designed to solve it online. Then, the proposed neural dynamics solver is proved to be stable, convergent and robust. Additionally, the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated. Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/47549]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Long Jin,Xin Zheng,Xin Luo. Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(5):854-863. |
| APA | Long Jin,Xin Zheng,&Xin Luo.(2022).Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays.IEEE/CAA Journal of Automatica Sinica,9(5),854-863. |
| MLA | Long Jin,et al."Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays".IEEE/CAA Journal of Automatica Sinica 9.5(2022):854-863. |
入库方式： OAI收割
来源：自动化研究所
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