Name
Title | ||
|---|---|---|
Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches. |
Abstract | ||
|---|---|---|
This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control, distributed controller-estimator algorithms (DCEA), which consist of local algorithms and networked algorithms, are developed for MHMs with parametric uncertainties and input disturbances. By invoking differential inclusions, nonsmooth analysis, and input-to-state stability, some conditions (including sufficient conditions, necessary and sufficient conditions) on the asymptotic stability of the task-space tracking errors and the subtask errors are developed. Simulation results are given to show the effectiveness of the presented DCEA. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1016/j.jfranklin.2016.06.025 | Journal of the Franklin Institute |
DocType | Volume | Issue |
Journal | 353 | 15 |
ISSN | Citations | PageRank |
0016-0032 | 6 | 0.44 |
References | Authors | |
30 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ming-Feng Ge | 1 | 43 | 2.72 |
| Zhihong Guan | 2 | 1704 | 135.76 |
| Chao Yang | 3 | 211 | 46.97 |
| Chao Yang | 4 | 211 | 46.97 |
| Ding-Fu Zheng | 5 | 20 | 2.00 |
| Ming Chi | 6 | 70 | 8.26 |