Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches
Abstract
This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control, distributed controller-estimator algorithms (DCEA), which consist of local algorithms and networked algorithms, are developed for MHMs with parametric uncertainties and input disturbances. By invoking differential inclusions, nonsmooth analysis, and input-to-state stability, some conditions (including sufficient conditions, necessary and sufficient conditions) on the asymptotic stability of the task-space tracking errors and the subtask errors are developed. Simulation results are given to show the effectiveness of the presented DCEA.
Keywords
Cite
@article{arxiv.1607.07543,
title = {Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches},
author = {Ming-Feng Ge and Zhi-Hong Guan and Chao Yang and Chao-Yang Chen and Ding-Fu Zheng and Ming Chi},
journal= {arXiv preprint arXiv:1607.07543},
year = {2016}
}
Comments
17 pages, 7 figures, Journal of the Franklin Institute