Object Transportation With Force-Sensorless Control and Event-Triggered Synchronization for Networked Uncertain Manipulators
| Autor: | Yen-Chen Liu, Van-Tam Ngo |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Robot kinematics
Artificial neural network Computer simulation Control and Systems Engineering Computer science Robustness (computer science) Control theory 020208 electrical & electronic engineering 0202 electrical engineering electronic engineering information engineering 02 engineering and technology Electrical and Electronic Engineering Event triggered Synchronization |
| Zdroj: | IEEE Transactions on Industrial Electronics. 68:902-912 |
| ISSN: | 1557-9948 0278-0046 |
| DOI: | 10.1109/tie.2020.3000123 |
| Popis: | This article proposes a distributed control method for networked manipulators to cooperatively transport an unmodeled object without force measurement. First, we design an adaptive neural network control algorithm, based on the wavelet neural network, to estimate unknown system dynamics. A novel task-space synchronization control is studied with triggering condition for the network under time-varying communication delays, to improve the cooperative quality while reducing the network burden. The proposed control method ensures uniform ultimate boundedness of velocity/position tracking errors and boundedness of the internal force with the avoidance of Zeno behavior. Moreover, the robustness of networked uncertain manipulators is guaranteed. Finally, a numerical simulation and experiments are carried to demonstrate the performance and efficiency of the proposed control algorithm. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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