Task-space tracking control of multi-robot systems with disturbances and uncertainties rejection capability

This paper investigates the task-space tracking control problem for multi-robot systems in the presence of uncertain kinematics and dynamics. Two classes of control schemes are developed to address the aforementioned problem with nonredundant and redundant kinematics and input disturbances. Particul...

Full description

Saved in:
Bibliographic Details
Published in:Nonlinear dynamics 2018-06, Vol.92 (4), p.1649-1664
Main Authors: Yao, Xiang-Yu, Ding, Hua-Feng, Ge, Ming-Feng
Format: Article
Language:English
Subjects:
Adaptive control
Automotive Engineering
Classical Mechanics
Control
Control theory
Disturbances
Dynamical Systems
End effectors
Engineering
Kinematics
Mechanical Engineering
Multiple robots
Original Paper
Parameters
Robot control
Robots
Tracking control
Tracking errors
Vibration
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper investigates the task-space tracking control problem for multi-robot systems in the presence of uncertain kinematics and dynamics. Two classes of control schemes are developed to address the aforementioned problem with nonredundant and redundant kinematics and input disturbances. Particularly, the property of separating of kinematic and dynamic loops is obtained by the proposed controllers, which include a control law, a kinematic parameter adaptive law and a dynamic parameter adaptive law, respectively. Moreover, by using passivity approaches, the system is proved to be passive with the external forces, applied on the end effectors, be the input signals. Consequently, the tracking errors asymptotically converge to the origin under interaction constraints, i.e., the graph is directed, and only a subset of slave robots can access the information of the master robot. Finally, numerous simulations are performed to demonstrate the validity of the theoretical results.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-018-4152-y