Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays

doi:10.1109/JAS.2022.105446

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	Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays
	Long Jin; Xin Zheng; Xin Luo
刊名	IEEE/CAA Journal of Automatica Sinica
	2022
卷号	9 期号:5 页码:854-863
关键词	Distributed collaborative control neural dynamics redundancy resolution repetitive motion planning (RMP) time delay
ISSN号	2329-9266
DOI	10.1109/JAS.2022.105446
英文摘要	Time-delay phenomena extensively exist in practical systems, e.g., multi-agent systems, bringing negative impacts on their stabilities. This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme. Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value, it is proved that all manipulators in the distributed network are able to reach a desired motion. The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem, and a neural dynamics solver is designed to solve it online. Then, the proposed neural dynamics solver is proved to be stable, convergent and robust. Additionally, the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated. Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47549]
专题	自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Long Jin,Xin Zheng,Xin Luo. Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(5):854-863.
APA	Long Jin,Xin Zheng,&Xin Luo.(2022).Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays.IEEE/CAA Journal of Automatica Sinica,9(5),854-863.
MLA	Long Jin,et al."Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays".IEEE/CAA Journal of Automatica Sinica 9.5(2022):854-863.