Distributed Tracking Control of Uncertain Multiple Manipulators Under Switching Topologies Using Neural Networks

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• 关键词：Leader ; following problem ; Manipulator ; Uncertainty ; Neural networks ; Switching topologies
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9719
• 期：1
• 页码：233-241
• 全文大小：267 KB
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  11.Hou, Z.-G., Cheng, L., Tan, M., Wang, X.: Distributed adaptive coordinated control of multi-manipulator systems using neural networks. In: Liu, H., Gu, D., Howlett, R., Liu, Y. (eds.) Robot Intelligence: An Advanced Knowledge Processing Approach, pp. 49–69. Springer-Verlag, London (2010)CrossRef
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  14.Wang, Y., Cheng, L., Hou, Z.-G., Tan, M., Bian, G.: Polynomial trajectory tracking of networked Euler-Lagrange Systems. In: The 33rd Chinese Control Conference, pp. 1568–1573. Nanjing (2014)
  15.Cheng, L., Wang, Y., Ren, W., Hou, Z.-G., Tan, M.: Containment Control of Multi-Agent Systems with Dynamic Leaders based on a \(PI^n\) -type Approach. IEEE Trans. Cybern (2016). doi:10.​1109/​TCYB.​2015.​2494738
  16.Mei, J., Ren, W., Li, B., Ma, G.: Distributed containment control for multiple unknown second-order nonlinear systems with application to networked lagrangian systems. IEEE Trans. Neural Netw. Learn. Syst. 26, 1885–1899 (2015)MathSciNet CrossRef
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• 作者单位：Long Cheng (16)
  Ming Cheng (17)
  Hongnian Yu (18)
  Lu Deng (19)
  Zeng-Guang Hou (16)
  
  16. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
  17. Department of Petroleum Engineering, Harbin Institute of Petroleum, Harbin, 150028, China
  18. Department of Computing, Bournemouth University, Poole, BH12 5BB, UK
  19. School of Statistics and Mathematics, Central University of Finance and Economics, Beijing, 100081, China
  
• 丛书名：Advances in Neural Networks ¨C ISNN 2016
• ISBN：978-3-319-40663-3
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9719

文摘

The distributed tracking control of a group of manipulators under switching directed topologies is studied. Each manipulator is modeled by the Euler-Lagrange dynamics which includes uncertainties and external disturbances. The proposed controller has the neural network approximation unit for compensating uncertainties and the robust term for counteracting external disturbances. It can be proved that when the communication topology switches among a set of graphes which have a spanning tree and have no loop structure, the final tracking error can be reduced as small as possible.