Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays
文献类型：期刊论文
| 作者 | Jin, Long1,2; Zheng, Xin1,2; Luo, Xin3,4
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| 刊名 | IEEE-CAA JOURNAL OF AUTOMATICA SINICA
 |
| 出版日期 | 2022-05-01 |
| 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 |
| 通讯作者 | Luo, Xin(luoxin21@cigit.ac.cn) |
| 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. |
| 资助项目 | National Natural Science Foundation of China[62176109] ; Natural Science Foundation of Gansu Province[21JR7RA531] ; Team Project of Natural Science Foundation of Qinghai Province China[2020-ZJ-903] ; State Key Laboratory of Integrated Services Networks[ISN23-10] ; Gansu Provincial Youth Doctoral Fund of Colleges and Universities[2021QB-003] ; Fundamental Research Funds for the Central Universities[lzujbky-2021-65] ; Supercomputing Center of Lanzhou University ; Natural Science Foundation of Chongqing[cstc2019jcyjjqX0013] ; CAAIHuawei MindSpore Open Fund[CAAIXSJLJJ-2021-035A] ; Pioneer Hundred Talents Program of Chinese Academy of Sciences |
| WOS研究方向 | Automation & Control Systems |
| 语种 | 英语 |
| WOS记录号 | WOS:000794202700011 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 源URL | [http://119.78.100.138/handle/2HOD01W0/16212]  |
| 专题 | 中国科学院重庆绿色智能技术研究院 |
| 通讯作者 | Luo, Xin |
| 作者单位 | 1.Lanzhou Univ, Sch Informat Sci & Engn, Lanzhou 730000, Peoples R China 2.Xidian Univ, State Key Lab Integrated Serv Networks, Xian 710071, Peoples R China 3.Chongqing Univ Posts & Telecommun, Sch Comp Sci & Technol, Chongqing 400065, Peoples R China 4.Chinese Acad Sci, Chongqing Inst Green & Intelligent Technol, Chongqing 400714, Peoples R China |
| 推荐引用方式 GB/T 7714 | Jin, Long,Zheng, Xin,Luo, Xin. Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays[J]. IEEE-CAA JOURNAL OF AUTOMATICA SINICA,2022,9(5):854-863. |
| APA | Jin, Long,Zheng, Xin,&Luo, Xin.(2022).Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays.IEEE-CAA JOURNAL OF AUTOMATICA SINICA,9(5),854-863. |
| MLA | Jin, Long,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：重庆绿色智能技术研究院
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