Distributed Collaborative Control of Redundant Robots Under Weight-Unbalanced Directed Graphs

In consideration of the limitation of the communication and the possibility that redundant robots might deliver information at different power levels, cases under weight-unbalanced directed graphs from the network topology perspective are in larger accordance with those in multiple redundant robot s...

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Bibliographic Details
Published in:IEEE transactions on industrial informatics 2024-01, Vol.20 (1), p.1-10
Main Authors: Zheng, Xin, Liu, Mei, Jin, Long, Yang, Chenguang
Format: Article
Language:English
Subjects:
Collaboration
Controllers
Directed graphs
Distributed collaborative control
Dynamic stability
Graph theory
Graphs
Informatics
Kinematics
Network topologies
neural dynamics
Quadratic programming
Redundancy
redundant robot
Robot control
Robot kinematics
Robots
Service robots
weight-unbalanced directed graph
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Summary:In consideration of the limitation of the communication and the possibility that redundant robots might deliver information at different power levels, cases under weight-unbalanced directed graphs from the network topology perspective are in larger accordance with those in multiple redundant robot systems. By moving forward along this direction, a distributed controller is proposed in this paper to handle circumstances of collaborative control of multiple redundant robots under weight-unbalanced directed graphs. This kind of control problem is modelled into generalized quadratic programming (QP) problems with equality and inequality constraints. Then, the above QP problems are solved by a proposed neural-dynamics-based method, whose stability and convergence are theoretically proved subsequently. Besides, several experimental examples are conducted, and related comparisons are provided to demonstrate the feasibility of the proposed controller.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2023.3268778