Abstract
The distributed tracking control of a group of manipulators under switching directed topologies is studied. Each manipulator is modeled by the Euler-Lagrange dynamics which includes uncertainties and external disturbances. The proposed controller has the neural network approximation unit for compensating uncertainties and the robust term for counteracting external disturbances. It can be proved that when the communication topology switches among a set of graphes which have a spanning tree and have no loop structure, the final tracking error can be reduced as small as possible.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Cheng, L., Hou, Z.-G., Tan, M., Liu, D., Zou, A.: Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties. In: 2008 IEEE Internationial Symposium on Intelligent Control, pp. 189–194. San Antonio (2008)
Cheng, L., Hou, Z.-G., Tan, M.: Decentralized Adaptive Consensus Control for Multi-Manipulator System with Uncertain Dynamics. In: 2008 IEEE International Conference on Systems, Man, and Cybernetics, pp. 2712–2717. Singapore (2008)
Ren, W.: Distributed leaderless consensus algorithms for networked euler-lagrange systems. int. j. control. 82, 2137–2149 (2009)
Hou, Z.-G., Cheng, L., Tan, M.: Decentralized robust adaptive control for the multiagent system consensus problem using neural networks. IEEE Trans. Syst. Man Cybern. Part B: Cybern. 39, 636–647 (2009)
Liu, Y., Min, H., Wang, S., Liu, Z., Liao, S.: Distributed adaptive consensus for multiple mechanical systems with switching topologies and time-varying delay. Syst. Control Lett. 64, 119–126 (2014)
Wang, H., Cheng, L.: Second-order consensus of networked mechanical systems with communication delays. In: The 11th World Congress on Intelligent Control and Automation, pp. 2126–2131. Shenyang (2014)
Mehrabian, A., Khorasani, K., Tafazoli, S.: Reconfigurable synchronization control of networked euler-lagrange systems with switching communication topologies. asian j. control. 16, 830–844 (2014)
Zhao, X., Ma, C., Xing, X., Zheng, X.: A stochastic sampling consensus protocol of networked euler-lagrange systems with application to two-link manipulator. IEEE Trans. Ind. Inf. 11, 907–914 (2015)
Liu, Y.-C.: Distributed synchronization for heterogeneous robots with uncertain kinematics and dyanmics under switching topologies. J. Franklin Inst. 352, 3808–3826 (2015)
Cheng, L., Hou, Z.-G., Tan, M.: Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics. In: The 34th Annual Conference of the IEEE Industrial Electronics Society, pp. 1608–1613. Orlando (2008)
Hou, Z.-G., Cheng, L., Tan, M., Wang, X.: Distributed adaptive coordinated control of multi-manipulator systems using neural networks. In: Liu, H., Gu, D., Howlett, R., Liu, Y. (eds.) Robot Intelligence: An Advanced Knowledge Processing Approach, pp. 49–69. Springer-Verlag, London (2010)
Cheng, L., Hou, Z.-G., Tan, M., Lin, Y., Zhang, W.J.: Neural-network-based adaptive leader-following control for multi-agent systems with uncertainties. IEEE Trans. Neural Netw. 21, 1351–1358 (2010)
Cai, H., Huang, J.: Leader-following consensus of multiple uncertain euler-lagrange systems under switching network topology. Int. J. Gen. Syst. 43, 294–304 (2014)
Wang, Y., Cheng, L., Hou, Z.-G., Tan, M., Bian, G.: Polynomial trajectory tracking of networked Euler-Lagrange Systems. In: The 33rd Chinese Control Conference, pp. 1568–1573. Nanjing (2014)
Cheng, L., Wang, Y., Ren, W., Hou, Z.-G., Tan, M.: Containment Control of Multi-Agent Systems with Dynamic Leaders based on a \(PI^n\)-type Approach. IEEE Trans. Cybern (2016). doi:10.1109/TCYB.2015.2494738
Mei, J., Ren, W., Li, B., Ma, G.: Distributed containment control for multiple unknown second-order nonlinear systems with application to networked lagrangian systems. IEEE Trans. Neural Netw. Learn. Syst. 26, 1885–1899 (2015)
Yang, Z., Shibuya, Y., Qin, P.: Distributed robust control for synchronised tracking of networked euler-lagrange systems. Int. J. Syst. Sci. 46, 720–732 (2015)
Lewis, F.L., Abdallah, C.T., Dawson, D.W.: Control of Robot Manipulators. Macmillan, New York (1993)
Cheng, L., Wang, P., Ren, W., Hou, Z.-G., Tan, M.: On convergence rate of leader-following consensus of linear multi-agent systems with communication noises. IEEE Trans. Autom. Control (2017). doi:10.1109/TAC.2016.2522647
Wang, P., Cheng, L., Ren, W., Hou, Z.-G., Tan, M.: Seeking consensus in networks of linear agents: communication noises and Markovian switching topologies. IEEE Trans. Autom. Control. 60, 1374–1379 (2015)
Acknowledgement
This work was supported in part by the National Natural Science Foundation of China (Grants 61422310, 61370032, 71401189) and the Beijing Natural Science Foundation (Grant 4162066).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Cheng, L., Cheng, M., Yu, H., Deng, L., Hou, ZG. (2016). Distributed Tracking Control of Uncertain Multiple Manipulators Under Switching Topologies Using Neural Networks. In: Cheng, L., Liu, Q., Ronzhin, A. (eds) Advances in Neural Networks – ISNN 2016. ISNN 2016. Lecture Notes in Computer Science(), vol 9719. Springer, Cham. https://doi.org/10.1007/978-3-319-40663-3_27
Download citation
DOI: https://doi.org/10.1007/978-3-319-40663-3_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-40662-6
Online ISBN: 978-3-319-40663-3
eBook Packages: Computer ScienceComputer Science (R0)