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第40届中国控制会议

作者： LI Xuanxian YANG Hanyao LIU Qingping SHAO Hui GUO Dongsheng College of Information Science and Engineering Huaqiao University

The repetitive motion planning（RMP） is an important issue in the study of *** this paper,we provide a further investigation by proposing a new RMP scheme for omnidirectional mobile robot *** the basis of the gradient descent method,such a scheme depicted in the pseudoinverse-type formulation is theoretically analyzed and proven to realize the RMP of omnidirectional mobile robot *** two illustrative examples,comparative simulation results under a specific omnidirectional mobile robot manipulator are presented to verify the effectiveness of the proposed RMP scheme.

关键词： repetitive motion planning Omnidirectional mobile robot manipulators Gradient descent Pseudoinverse

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Neural Dynamics for Cooperative motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao Jiliang Zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

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