Mutual Synchronization of Multiple Robot Manipulators with Unknown Dynamics

Authors:
Rongxin Cui;Weisheng Yan
Affiliations:
College of Marine Engineering, Northwestern Polytechnical University, Xi'an, People's Republic of China 710072;College of Marine Engineering, Northwestern Polytechnical University, Xi'an, People's Republic of China 710072
Venue:
Journal of Intelligent and Robotic Systems
Year:
2012

Citing 18
Cited 1

Persistency of Excitation in Identification Using Radial Basis Function Approximants

SIAM Journal on Control and Optimization
Stable Adaptive Neural Network Control

Stable Adaptive Neural Network Control
Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach

International Journal of Robotics Research
Brief paper: Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators

Automatica (Journal of IFAC)
Brief paper: Output feedback adaptive control of a class of nonlinear discrete-time systems with unknown control directions

Automatica (Journal of IFAC)
Cooperative robot control and concurrent synchronization of Lagrangian systems

IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Robust adaptive control of cooperating mobile manipulators with relative motion

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on human computing
Robust adaptive neural network control for a class of uncertain MIMO nonlinear systems with input nonlinearities

IEEE Transactions on Neural Networks
Brief paper: Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments

Automatica (Journal of IFAC)
Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints

Automatica (Journal of IFAC)
On adaptive synchronization control of coordinated multirobots with flexible/rigid constraints

IEEE Transactions on Robotics
Robust Adaptive Tracking Control for Nonlinear Systems Based on Bounds of Fuzzy Approximation Parameters

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Adaptive neural control of uncertain MIMO nonlinear systems

IEEE Transactions on Neural Networks
Adaptive Neural Output Feedback Tracking Control for a Class of Uncertain Discrete-Time Nonlinear Systems

IEEE Transactions on Neural Networks
Adaptive Neural Output Feedback Controller Design With Reduced-Order Observer for a Class of Uncertain Nonlinear SISO Systems

IEEE Transactions on Neural Networks
Adaptive Fuzzy Control for Synchronization of Nonlinear Teleoperators With Stochastic Time-Varying Communication Delays

IEEE Transactions on Fuzzy Systems
Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions

IEEE Transactions on Robotics

Adaptive neural network control of robot with passive last joint

ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper, we investigate the mutual synchronization control problem of multiple robot manipulators in the case that the desired trajectory is only available to a portion of the team members, and the dynamics and the external disturbances of the manipulators are unknown. Treating the weighted average of the outputs of the neighbors as the reference trajectory, an adaptive neural network (NN) tracking control is designed for each manipulator. Based on the Lyapunov analysis, rigid mathematical proof is provided for the proposed algorithm for both state feedback and output feedback cases. It is shown that, under the proposed adaptive NN control, the tracking error of each manipulator converges to an adjustable neighborhood of the origin. Simulations are provided to demonstrate the effectiveness of the proposed approach.