Decentralized control of collaborative redundant manipulators with partial command coverage via locally connected recurrent neural networks

Neural Computing and Applications

Volumn 23, Issue 3-4, 2013, Pages 1051-1060

  Li, Shuai ^a   Cui, Hongzhu ^b   Li, Yangming ^c   Liu, Bo ^d   Lou, Yuesheng ^e  

^a Stevens Institute of Technology   (United States)

^b SUN YAT SEN UNIVERSITY   (China)

^c INSTITUTE OF INTELLIGENT MACHINES   (China)

^d Biologically Inspired Neural and Dynamical Systems Laboratory   (United States)

^e YIWU INDUSTRIAL AND COMMERCIAL COLLEGE   (China)

Author keywords

Cooperative task execution; Decentralized control; Hierarchical tree; Quadratic programming; Recurrent neural network; Redundant manipulator

Indexed keywords

CONSTRAINED QUADRATIC OPTIMIZATION; CONSTRAINED QUADRATIC PROGRAMMING; COOPERATIVE TASKS; HIERARCHICAL TREE; NOVEL STRATEGIES; OPTIMAL SOLUTIONS; OPTIMIZATION PROBLEMS; ORIGINAL SYSTEMS;

CONSTRAINED OPTIMIZATION; CONTROL THEORY; DECENTRALIZED CONTROL; INDUSTRIAL MANIPULATORS; QUADRATIC PROGRAMMING; RECURRENT NEURAL NETWORKS; REDUNDANT MANIPULATORS;

PROBLEM SOLVING;

EID: 84884589354     PISSN: 09410643     EISSN: None     Source Type: Journal    
DOI: 10.1007/s00521-012-1030-2     Document Type: Article

References (18)

1. Li S, Chen S, Liu B, Li Y, Liang Y (2012) Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks. Neurocomputing 91: 1-10.
2. Montemayor G, Wen JT (2005) Decentralized collaborative load transport by multiple robots. In: Robotics and automation, 2005. Proceedings of the 2005 IEEE international conference on ICRA 2005. pp 372-377.
3. Fraile J, Paredis CJJ, Wang C, Khosla PK (1999) Agent-based planning and control of a multi-manipulator assembly system. In: Proceedings of the IEEE international conference on robotics and automation, pp 1219-1225.
4. Liu G, Xu J, Wang X, Li Z (2004) On quality functions for grasp synthesis, fixture planning, and coordinated manipulation. IEEE Trans Autom Sci Eng 1(2): 146-162.
5. Wu L, Cui K, Chen SB (2000) Redundancy coordination of multiple robotic devices for welding through genetic algorithm. Robotica 18: 669-676.
6. Alami R, Fleury S, Herrb M, Ingrand F, Robert F (1998) Multi-robot cooperation in the MARTHA project. Robot Autom Mag IEEE 5(1): 36-47.
7. Peng J (2004) Optimal control of multiple robot systems with friction using mathematical programs with complementarity constraints. In: Proceedings of the IEEE international conference on robotics and automation, pp 5224-5231.
8. Moosavian SAA, Papadopoulos E (1997) On the control of space free-flyers using multiple impedance control. In: Proceedings of the 1997 IEEE international conference on robotics and automation, 1997, vol 1, pp 853-858.
9. Liu Y, Xu Y, Bergerman M (1999) Cooperation control of multiple manipulators with passive joints. IEEE Trans Robot Autom 15: 258-267.
10. Zhang Y, Guo D, Cai B, Chen K (2011) Remedy scheme and theoretical analysis of joint-angle drift phenomenon for redundant robot manipulators. Robot Comput Integr Manuf 27(4): 860-869.
11. Li S, Liu B, Chen B, Lou Y (2012) Neural network based mobile phone localization using bluetooth connectivity. Neural Comput Appl, Springer-Verlag, 1-9.
12. Xia Y, Feng G, Wang J (2004) A recurrent neural network with exponential convergence for solving convex quadratic program and related linear piecewise equations. Neural Netw 17(7): 1003-1015.
13. Hu X (2010) Dynamic system methods for solving mixed linear matrix inequalities and linear vector inequalities and equalities. Appl Math Comput 216(4): 1181-1193.
14. Li S, Lou Y, Liu B (2012) Bluetooth aided mobile phone localization: a nonlinear neural circuit approach. ACM Trans Embed Comput Syst (to appear).
15. Zhang Y, Shi Y, Chen K, Wang C (2009) Global exponential convergence and stability of gradient-based neural network for online matrix inversion. Appl Math Comput 215(3): 1301-1306.
16. Mastroeni G (2005) Gap functions and descent methods for minty variational inequality. In: Qi L, Teo K, Yang X, Pardalos PM, Hearn DW (eds) Optimization and control with applications, volume 96 of applied optimization, Springer, Berlin, pp 529-547.
17. Fukushima M (1992) Equivalent differentiable optimization problems and descent methods for asymmetric variational inequality problems. Math Program 53: 99-110.
18. Khalil H (2002) Nonlinear systems. Prentice Hall, Englewood Cliffs, NJ.