Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach
文献类型：期刊论文
| 作者 | Yufeng Lian; Xingtian Xiao; Jiliang Zhang; Long Jin; Junzhi Yu ; Zhongbo Sun
|
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:7页码:1605-1620 |
| 关键词 | Cooperative motion control noise-tolerant zeroing neural network (NTZNN) omnidirectional mobile manipulator (OMM) repetitive motion planning |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2024.124425 |
| 英文摘要 | This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators (MOMMs). The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning (CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming (QP) and solved online utilizing a noise-tolerant zeroing neural network (NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57305]  |
| 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 | Yufeng Lian,Xingtian Xiao,Jiliang Zhang,et al. Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(7):1605-1620. |
| APA | Yufeng Lian,Xingtian Xiao,Jiliang Zhang,Long Jin,Junzhi Yu,&Zhongbo Sun.(2024).Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach.IEEE/CAA Journal of Automatica Sinica,11(7),1605-1620. |
| MLA | Yufeng Lian,et al."Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach".IEEE/CAA Journal of Automatica Sinica 11.7(2024):1605-1620. |
入库方式： OAI收割
来源：自动化研究所
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