Consensus Control for Networked Manipulators With Switched Parameters and Topologies
To solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process of networked manipulators, in this paper, distributed switched consensus control algorithms are formulated for a group of robot manipulators in realizing cooperative consensus per...
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9313989/ |
| _version_ | 1818933380952096768 |
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| author | Lixia Liu Bin Li Rongwei Guo |
| author_facet | Lixia Liu Bin Li Rongwei Guo |
| author_sort | Lixia Liu |
| collection | DOAJ |
| description | To solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process of networked manipulators, in this paper, distributed switched consensus control algorithms are formulated for a group of robot manipulators in realizing cooperative consensus performance. In fact, networked Lagrange systems are modeled as switched systems regarding the different parameters and topologies. Namely, the dynamic models switch when the system parameters or the topology structures change. The consensus control strategy is constructed by resorting to (improved) average dwell time (ADT) method and sliding-mode control technique, and a unified analysis methodology is developed to perform the convergence analysis for the closed-loop system by Lyapunov stable theory. The main contribution of this paper is the development of a systematically adaptive consensus algorithm by simultaneously considering shifting parameters and switching communication network (as two unavoidable key factors) in the process of communication interaction among robots. A distinctive feature of the developed consensus protocol is to introduce the directed network topology characterizing the local communication interaction among robots, which is especially suitable for representing the the structures and features of the realistic cooperative multi-robotic systems. Accordingly, the developed consensus tracking strategy for manipulators possess prominent advantages including robustness,stability and effectiveness over the existing concentrated on single robot counterparts. Finally, numerical simulations of two-link manipulators are performed to illustrate the effectiveness of the obtained control algorithm. |
| first_indexed | 2024-12-20T04:47:28Z |
| format | Article |
| id | doaj.art-c1654418d41f4525817a607c7d91b695 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-20T04:47:28Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-c1654418d41f4525817a607c7d91b6952022-12-21T19:52:57ZengIEEEIEEE Access2169-35362021-01-0199209921710.1109/ACCESS.2021.30492619313989Consensus Control for Networked Manipulators With Switched Parameters and TopologiesLixia Liu0https://orcid.org/0000-0001-6132-4461Bin Li1https://orcid.org/0000-0002-4028-0938Rongwei Guo2https://orcid.org/0000-0001-8836-0964School of Mathematics and Statistics, Shandong Academy of Sciences, Qilu University of Technology, Jinan, ChinaSchool of Mathematics and Statistics, Shandong Academy of Sciences, Qilu University of Technology, Jinan, ChinaSchool of Mathematics and Statistics, Shandong Academy of Sciences, Qilu University of Technology, Jinan, ChinaTo solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process of networked manipulators, in this paper, distributed switched consensus control algorithms are formulated for a group of robot manipulators in realizing cooperative consensus performance. In fact, networked Lagrange systems are modeled as switched systems regarding the different parameters and topologies. Namely, the dynamic models switch when the system parameters or the topology structures change. The consensus control strategy is constructed by resorting to (improved) average dwell time (ADT) method and sliding-mode control technique, and a unified analysis methodology is developed to perform the convergence analysis for the closed-loop system by Lyapunov stable theory. The main contribution of this paper is the development of a systematically adaptive consensus algorithm by simultaneously considering shifting parameters and switching communication network (as two unavoidable key factors) in the process of communication interaction among robots. A distinctive feature of the developed consensus protocol is to introduce the directed network topology characterizing the local communication interaction among robots, which is especially suitable for representing the the structures and features of the realistic cooperative multi-robotic systems. Accordingly, the developed consensus tracking strategy for manipulators possess prominent advantages including robustness,stability and effectiveness over the existing concentrated on single robot counterparts. Finally, numerical simulations of two-link manipulators are performed to illustrate the effectiveness of the obtained control algorithm.https://ieeexplore.ieee.org/document/9313989/Networked manipulatorsswitching controlparameters jumpcommunication topologies changecooperative consensus(improved) average dwell time method |
| spellingShingle | Lixia Liu Bin Li Rongwei Guo Consensus Control for Networked Manipulators With Switched Parameters and Topologies IEEE Access Networked manipulators switching control parameters jump communication topologies change cooperative consensus (improved) average dwell time method |
| title | Consensus Control for Networked Manipulators With Switched Parameters and Topologies |
| title_full | Consensus Control for Networked Manipulators With Switched Parameters and Topologies |
| title_fullStr | Consensus Control for Networked Manipulators With Switched Parameters and Topologies |
| title_full_unstemmed | Consensus Control for Networked Manipulators With Switched Parameters and Topologies |
| title_short | Consensus Control for Networked Manipulators With Switched Parameters and Topologies |
| title_sort | consensus control for networked manipulators with switched parameters and topologies |
| topic | Networked manipulators switching control parameters jump communication topologies change cooperative consensus (improved) average dwell time method |
| url | https://ieeexplore.ieee.org/document/9313989/ |
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