NDLI: Observer-based task-space consensus of networked robotic systems: A separation approach

Content Provider	IEEE Xplore Digital Library
Author	Hanlei Wang Yongchun Xie
Copyright Year	2015
Description	Author affiliation: Sci. & Technol. on Space Intell. Control Lab., Beijing Inst. of Control Eng., Beijing, China (Hanlei Wang; Yongchun Xie)
Abstract	In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive control scheme to achieve the consensus objective without relying on the measurement of task-space velocities. The proposed new control scheme employs a new observer that does not rely on the joint velocity, and a new kinematic parameter adaptation law that is driven by both the observation and consensus errors, giving rise to the desirable separation property of the proposed control. By the Lyapunov-like and iBIBO-stability-based analyses, we demonstrate that the task-space positions of the robotic systems converge to the scaled weighted average of their initial values. The performance of the proposed observer-based adaptive scheme is shown by a numerical simulation.
Starting Page	7604
Ending Page	7609
File Size	222608
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260846
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	observer Kinematics Observers adaptive control kinematic uncertainties Delays networked robotic systems Velocity measurement Joints Adaptive control Robots Consensus
Content Type	Text
Resource Type	Article

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