Coordinated motions of multiple robotic manipulators with matrix-weighted network
Abstract This paper addresses coordinated problem of uncertain robotic manipulators with matrix-weighted network. Given interconnections between agents are weighted by nonnegative definite matrices, we present a sufficient and necessary condition about zero eigenvalues of matrix-weighted Laplacian a...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2022-07-01
|
| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-022-15939-4 |
| _version_ | 1828541562731102208 |
|---|---|
| author | Liyun Zhao Yan Ren Rui Wang |
| author_facet | Liyun Zhao Yan Ren Rui Wang |
| author_sort | Liyun Zhao |
| collection | DOAJ |
| description | Abstract This paper addresses coordinated problem of uncertain robotic manipulators with matrix-weighted network. Given interconnections between agents are weighted by nonnegative definite matrices, we present a sufficient and necessary condition about zero eigenvalues of matrix-weighted Laplacian and types of coordinated behaviors for multiple agents. Based on the condition, two novel control schemes are proposed for the networked robots by introducing matrix-weighted network. We employ the decomposition approach and Lyapunov-like approach to show coordinated motions of the networked system, and demonstrate that the proposed controls are capable of ensuring the robotic agents reach complete/cluster consensus and complete/cluster synchronization. Finally, some numerical examples and simulations demonstrate the obtained theoretical results. |
| first_indexed | 2024-12-12T01:41:38Z |
| format | Article |
| id | doaj.art-f8885e2596574ad88c4aac86b949b196 |
| institution | Directory Open Access Journal |
| issn | 2045-2322 |
| language | English |
| last_indexed | 2024-12-12T01:41:38Z |
| publishDate | 2022-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj.art-f8885e2596574ad88c4aac86b949b1962022-12-22T00:42:41ZengNature PortfolioScientific Reports2045-23222022-07-0112111310.1038/s41598-022-15939-4Coordinated motions of multiple robotic manipulators with matrix-weighted networkLiyun Zhao0Yan Ren1Rui Wang2School of Science, Inner Mongolia University of Science and TechnologySchool of Information Engineering, Inner Mongolia University of Science and TechnologySchool of Applied Mathematics, Shanxi University of Finance and EconomicsAbstract This paper addresses coordinated problem of uncertain robotic manipulators with matrix-weighted network. Given interconnections between agents are weighted by nonnegative definite matrices, we present a sufficient and necessary condition about zero eigenvalues of matrix-weighted Laplacian and types of coordinated behaviors for multiple agents. Based on the condition, two novel control schemes are proposed for the networked robots by introducing matrix-weighted network. We employ the decomposition approach and Lyapunov-like approach to show coordinated motions of the networked system, and demonstrate that the proposed controls are capable of ensuring the robotic agents reach complete/cluster consensus and complete/cluster synchronization. Finally, some numerical examples and simulations demonstrate the obtained theoretical results.https://doi.org/10.1038/s41598-022-15939-4 |
| spellingShingle | Liyun Zhao Yan Ren Rui Wang Coordinated motions of multiple robotic manipulators with matrix-weighted network Scientific Reports |
| title | Coordinated motions of multiple robotic manipulators with matrix-weighted network |
| title_full | Coordinated motions of multiple robotic manipulators with matrix-weighted network |
| title_fullStr | Coordinated motions of multiple robotic manipulators with matrix-weighted network |
| title_full_unstemmed | Coordinated motions of multiple robotic manipulators with matrix-weighted network |
| title_short | Coordinated motions of multiple robotic manipulators with matrix-weighted network |
| title_sort | coordinated motions of multiple robotic manipulators with matrix weighted network |
| url | https://doi.org/10.1038/s41598-022-15939-4 |
| work_keys_str_mv | AT liyunzhao coordinatedmotionsofmultipleroboticmanipulatorswithmatrixweightednetwork AT yanren coordinatedmotionsofmultipleroboticmanipulatorswithmatrixweightednetwork AT ruiwang coordinatedmotionsofmultipleroboticmanipulatorswithmatrixweightednetwork |