Decentralised adaptive control of cooperating Robotic manipulators with disturbance observers

IET Control Theory and Applications

Volumn 8, Issue 7, 2014, Pages 515-521

  Li, Zhijun ^a   Deng, Shuming ^a   Su, Chun Yi ^a   Li, Guanglin ^b   Yu, Zhangguo ^c,d   Liu, Yanjun ^e   Wang, Min ^a  

^a SOUTH CHINA UNIVERSITY OF TECHNOLOGY   (China)

^b SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY   (China)

^c BEIJING INSTITUTE OF TECHNOLOGY   (China)

^d BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS   (China)

^e LIAONING UNIVERSITY OF TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL; FLEXIBLE MANIPULATORS;

ADAPTIVE CONTROLLERS; CONSTRAINED TRAJECTORIES; COOPERATING MANIPULATORS; DYNAMICS UNCERTAINTIES; EXTERNAL DISTURBANCES; PARAMETER ADAPTATION; PHYSICAL INTERACTIONS; ROBOTIC MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 84899496534     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2013.0611     Document Type: Article

References (25)

1. Li, Z., Ge, S.S., Wang, Z.: 'Robust adaptive control of coordinated multiple mobile manipulators', Mechatronics, 2008, 18, pp. 239-250
2. Yamamoto, Y., Hiyama, Y., Fujita, A.: 'Semi-autonomous reconfiguration of wheeled mobile robots in coordination', Proc. IEEE Int. Conf. Robot. Autom., 2004, pp. 3456-3461
3. Li, Z., Yang, C., Tang, Y.: 'Decentralised adaptive fuzzy control of coordinated multiple mobile manipulators interacting with non-rigid environments', IET Control Theory Appl., 2013, 7, (3), pp. 397-410
4. Fierro, R., Chaimowicz, L., Kumar, V.: 'Multi-robot cooperation', in Ge S.S. and Lewis F.L. (ed.): 'Autonomous mobile robots: sensing, control, decision making and application' (Taylor & Francis Group, Boca Raton, 2006), pp. 417-459
5. Cui, R., Gao, B., Guo, J.: 'Pareto-optimal coordination of multiple robots with safety guarantees', Auton. Robot., 2012, 32, (3), pp. 189-205
6. Cui, R., Ren, B., Ge, S.S.: 'Synchronised tracking control of multiagent system with high-order dynamics', IET Control Theory Appl., 2012, 6, (5), pp. 603-614
7. Weston, R.: 'Robot workplaces', Microprocess. Microsyst., 1984, 8, (5), pp. 245-248
8. Ahmad, S, Luo, S.: 'Coordinated motion control of multiple robotic devices for welding and redundancy coordination through constrained optimization in Cartesian space', IEEE Trans. Robot. Autom., 1989, 5, (4), pp. 409-417
9. Li, Z., Tao, P., Ge, S.S., Adams, M.D., Wijesoma, W.S.: 'Robust adaptive control of cooperating mobile manipulators with relative motion', IEEE Trans. Syst., Man Cybern., B, 2009, 39, (1), pp. 103-116
10. Hernandez, M, Tang, Y.: 'Adaptive output-feedback decentralized control of a class of second order nonlinear systems using recurrent fuzzy neural networks', Neurocomputing, 2009, 73, pp. 461-467
11. Hsu, S, Fu, L.: 'A fully adaptive decentralized control of robot manipulators', Automatica, 2006, 42, pp. 1761-1767
12. Tan, K.K., Huang, S., Lee, T.H.: ' Decentralized adaptive controller design of large-scale uncertain robotic systems', Automatica, 2009, 45, pp. 161-166
13. Cui, R., Guo, J., Gao, B.: 'Game theory-based negotiation for multiple robots task allocation', Robotica, 2013, 31, (6), pp. 923-934
14. Chen, X., Su, C.Y., Fukuda, T.: 'A nonlinear disturbance observer for multivariable systems and its application to magnetic bearing systems', IEEE Trans. Control Syst. Technol., 2004, 12, (4), pp. 569-577
15. Komada, S., Machii, N., Fukuda, T.: 'Control of redundant manipulators considering order of disturbance observer,' IEEE Trans. Ind. Electron., 2000, 47, (2), pp. 413-420
16. Yang, Z.J., Tsubakihara, H., Kanae, S., Wada, K., Su, C.Y.: 'A novel robust nonlinear motion controller with disturbance observer', IEEE Trans. Control Syst. Technol., 2008, 16, (1), pp. 137-147
17. Chen, M., Ge, S.S.: 'Robust attitude control of helicopters with actuator dynamics using neural networks', IET Control Theory Appl., 2010, 4, (12), pp. 2837-2854
18. Ge, S.S., Ren, B., Lee, T.H.: 'Hard disk drives control in mobile applications', J. Syst. Sci. Complex., 2007, 20, (2), pp. 215-224
19. Chen, M., Ge, S.S., Ren, B.B.: 'Adaptive tracking control of uncertain MIMO nonlinear systems with input saturation', Automatica, 2011, 47, (3), pp. 452-465
20. Chen, M., Ge, S.S., How, B.V.E.: 'Robust adaptive neural network control for a class of uncertain MIMO nonlinear systems with input nonlinearities', IEEE Trans. Neural Netw., 2010, 21, (45), pp. 796-812
21. Chen, M., Ge, S.S., How, B.V.E., Choo, Y.S.: 'Robust adaptive position mooring control for marine vessels', IEEE Trans. Control Syst. Technol., 2013, 21, (2), pp. 395-409
22. Li, Z., Yang, Y., Wang, S.: 'Adaptive dynamic coupling control of hybrid joints of human-symbiotic wheeled mobile manipulators with unmodelled dynamics', Int. J. Soc. Robot., 2010, 2, (2), pp. 109-120
23. Li, Z., Ge, S.S., Adams, M., Wijesoma, W.S.: 'Robust adaptive control of uncertain force/motion constrained nonholonomic mobile manipulators', Automatica, 2008, 44, (3), pp. 776-784
24. Do, K.D., Seet, G.: 'Motion control of a two-wheeled mobile vehicle with an inverted pendulum', J. Intell. Robot. Syst., 2010, 60, pp. 577-605
25. Li, Z., Yang, C., Fan, L.: 'Advanced control of wheeled inverted pendulums systems' (Springer, London, 2012), ISBN 978-1-4471-2962-2