Time-varying formation tracking of multiple manipulators via distributed finite-time control
Abstract
Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the time-varying formation tracking for multiple manipulator systems (MMSs) under fixed and switching directed graphs with a dynamic leader, whose acceleration cannot change too fast. An explicit mathematical formulation of time-varying formation is developed based on the related practical applications. A class of extended inverse dynamics control algorithms combining with distributed sliding-mode estimators are developed to address the aforementioned problem. By invoking finite-time stability arguments, several novel criteria (including sufficient criteria, necessary and sufficient criteria) for global finite-time stability of MMSs are established. Finally, numerical experiments are presented to verify the effectiveness of the theoretical results.
Keywords
Cite
@article{arxiv.1607.07535,
title = {Time-varying formation tracking of multiple manipulators via distributed finite-time control},
author = {Ming-Feng Ge and Zhi-Hong Guan and Chao Yang and Tao Li and Yan-Wu Wang},
journal= {arXiv preprint arXiv:1607.07535},
year = {2016}
}