Compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators: theory and experimental verification

Ma, Bing; Li, Yuanchun

doi:10.1007/s40747-021-00359-0

Cited by 10 publications

(3 citation statements)

References 48 publications

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“…Figs. [3][4][5][6][7][8][9][10][11][12] show the experimental comparison between the ADP-based event-triggered optimal control method [25,56] and the proposed event-triggered-based cooperative game optimal tracking control method for MRMs system with constrained input. In the event-triggered control, we take the real-time state of MRM system with constrained input measured by the sensor under time-triggered as the system state under event-triggered.…”

Section: Experimental Results and Analysismentioning

confidence: 99%

Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input

Wei

et al. 2022

Nonlinear Dyn

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In this paper, a cooperative game optimal tracking control method based on event-triggered mechanism for constrained input modular robot manipulators (MRMs) system is introduced. According to the joint torque feedback (JTF) technique, the dynamics model of the constrained input subsystem is established and the global state space equation is derived. The control inputs of n joints in the MRM system with constrained input are taken as n participants of cooperative game, the tracking control problem of the manipulator system is transformed into the optimal control problem based on the cooperative game. Next, a fusion function containing position and velocity errors is defined to construct the performance index function. In order to improve the control performance and robustness of the manipulator system, part of the known model information is used to devise controller, the model uncertainty is dealt by the neural network (NN) observer, and the

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Section: Experimental Results and Analysismentioning

confidence: 99%

Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input

Wei

et al. 2022

Nonlinear Dyn

Self Cite

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“…Modular robot manipulator (MRM) is a robot with multiple modules, which can be added or subtracted modules according to the requirements or variable tasks. In addition, these modules have standard electrical and mechanical interfaces, each of which integrates communication unit, drive unit, control unit and sensing unit [5]. According to the above advantages, MRMs are applicable to pHRI in complex fields because of the properties that are oriented to varied tasks and different human partners [6].…”

Section: Introductionmentioning

confidence: 99%

Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification

Dong

Wang

Chen

et al. 2022

Complex Intell. Syst.

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In this paper, a human motion intention estimation-based decentralized robust interaction control method of modular robot manipulators (MRMs) is proposed under the situation of physical human–robot interaction (pHRI). Different from traditional interaction control scheme that depends on the biological signal and centralized control method, the decentralized robust interaction control is implemented that using only position measurements of each joint module in this investigation. Based on the harmonic drive compliance model, a novel torque-sensorless human motion intention estimation method is developed, which utilizes only the information of local dynamic position measurements. On this basis, the decentralized robust interaction control scheme is presented to achieve high performance of position tracking and ensure the security of interaction to create the ’safety’ interaction environment. The uniformly ultimately bounded (UUB) of the tracking error is proved by the Lyapunov theory. Finally, pHRI experiments confirm the effectiveness and advancement of the proposed method.

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“…The effectiveness of event-triggered control has also been verified through physical experimental results. [36][37][38] During our perusal of the literatures, this work was motivated by the awareness that event-based formation control of discrete-time multiple AUVs has not been fully investigated.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time event-based coordinated formation control of multiple AUVs with time-varying delay and alterable topology

Zeng

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article considers the issue of event-based coordinated formation control for multiple autonomous underwater vehicles subject to time-varying communication delay and alterable topology under discretized time. First, to derive the dynamics model in the discrete-time domain, the state feedback technique and the forward difference approach are employed for the continuous-time nonlinear model of autonomous underwater vehicle. For each follower, the event-triggering function and the coordinated controller are designed, using only discrete-time state information of the leader or other followers. Under this control strategy, the controller will not be updated at each discrete-time instant. Then, the coordinated control problem is turned into the asymptotic stability problem of the multi-autonomous underwater vehicle system. According to the stability analysis, sufficient conditions are presented for successfully completing the formation assignment without and with time-varying delay, respectively. Finally, by performing some numerical simulation experiments, the efficacity of our proposed event-based controller and the correctness of the main theoretical results are demonstrated. The impact of different communication conditions on the control system is revealed by the comparison of several scenarios.

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Compensator-critic structure-based event-triggered decentralized tracking control of modular robot manipulators: theory and experimental verification

Cited by 10 publications

References 48 publications

Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input

Event-triggered-based cooperative game optimal tracking control for modular robot manipulator with constrained input

Decentralized robust interaction control of modular robot manipulators via harmonic drive compliance model-based human motion intention identification

Discrete-time event-based coordinated formation control of multiple AUVs with time-varying delay and alterable topology

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