Distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader

作     者：ZHOU Jin WU XingJie LIU ZengRong 

作者机构：Shanghai Institute of Applied Mathematics and Mechanics Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University School of Mathematics and Statistics Hefei Normal University Institute of System Biology Shanghai University 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2014年第57卷第5期

页      面：905-913页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 070105[理学-运筹学与控制论] 0802[工学-机械工程] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.11272191 10972129 and 10832006) Specialized Research Foundation for the Doctoral Program of Higher Education(Grant No.200802800015) University Natural Science Research Program of Anhui Province(Grant No.KJ2013B216) 

主　　题：networked Lagrange system redundant robot distributed adaptive control tracking synchronization algorithm 

摘      要：Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable *** this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic *** provide an analysis procedure for the controlled synchronization of such systems with uncertain *** also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated *** with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning ***,we present a simulation example to verify the effectiveness of the proposed algorithms.