Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/162127
Title: A unified inner-/outer-loop distributed design for task-space robust cooperative tracking of uncertain networked manipulators under directed graphs
Authors: Feng, Zhi
Hu, Guoqiang
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2022
Source: Feng, Z. & Hu, G. (2022). A unified inner-/outer-loop distributed design for task-space robust cooperative tracking of uncertain networked manipulators under directed graphs. International Journal of Robust and Nonlinear Control, 32(9), 5652-5672. https://dx.doi.org/10.1002/rnc.6136
Journal: International Journal of Robust and Nonlinear Control
Abstract: This paper investigates task-space cooperative tracking of networked manipulators with an inner-/outer-loop closed control architecture, taking effects of uncertain kinematics, dynamics, disturbances, and unavailable task-space velocities into account. In the existing related works, the developed distributed cooperative control algorithms require either an open control architecture with torque-based controllers or the combination of inner/outer loop to be stable with the effects of unknown dynamics being neglected. In contrast, in this work we propose a novel distributed control framework such that a distributed outer-loop adaptive scheme is developed to achieve task-space robust cooperative tracking with dynamic effects being considered and without modifying the inner control loop. In particular, a distributed estimator is firstly developed to estimate the desired global task. With this estimated information, distributed cooperative algorithms are presented for two types of inner-loop controllers to ensure task-space coordinated tracking asymptotically. If the robot has an open control architecture, the torque-based distributed controller is provided for task-space cooperative tracking, which can cover existing related results as a special case. Finally, numerical simulations are provided to show the effectiveness of the proposed designs.
URI: https://hdl.handle.net/10356/162127
ISSN: 1049-8923
DOI: 10.1002/rnc.6136
Rights: © 2022 John Wiley & Sons Ltd. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

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