KMS Chongqing Institute of Green and Intelligent Technology, CAS
| Neural Dynamics for Cooperative Control of Redundant Robot Manipulators | |
Jin, Long1; Li, Shuai2; Luo, Xin3 ; Li, Yangming4; Qin, Bin5
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| 2018 | |
| 摘要 | In this paper, a neural-dynamic distributed scheme is proposed for the cooperative control of multiple redundant manipulators with limited communications. It is guaranteed that, with the communication network being connected, all manipulators can jointly reach the same desired motion. The proposed distributed scheme is rearranged as a time-varying quadratic program and solved online by a Zhang neural network. Then, theoretical analyses show that, without noise, the proposed distributed scheme is able to execute a given task with exponentially convergent position errors. Moreover, an explicit bound relationship between the control input noise and the end-effector position error is analytically derived. Furthermore, numerical comparisons substantiate the superiority, effectiveness, and accuracy of the proposed distributed scheme. © 2005-2012 IEEE. |
| DOI | 10.1109/TII.2018.2789438 |
| 发表期刊 | IEEE Transactions on Industrial Informatics
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| ISSN | 15513203 |
| 卷号 | 14期号:9页码:3812-3821 |
| 收录类别 | EI |
| 语种 | 英语 |
| EISSN | 19410050 |
