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

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

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  • 国家科技期刊平台
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This paper presents a distributed scheme with lim-ited communications,aiming to achieve cooperative motion con-trol 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 transporta-tion is achieved for the end-effectors of MOMMs by incorporat-ing cooperative repetitive motion planning(CRMP),while guid-ing 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 demon-strated by numerical simulations and physical platform experi-ments.

Cooperative motion controlnoise-tolerant zeroing neural network(NTZNN)omnidirectional mobile manipulator(OMM)repetitive motion planning

Yufeng Lian、Xingtian Xiao、Jiliang Zhang、Long Jin、Junzhi Yu、Zhongbo Sun

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Department of Control Engineering,Changchun University of Technology,Changchun 130012,China

College of Information Science and Engineering,Northeastern University,Shenyang 110819

National Mobile Communications Research Laboratory,Southeast University,Nanjing 210096,China

School of Information Science and Engineering,Lanzhou University,Lanzhou 730000,China

State Key Laboratory for Turbulence and Complex Systems,Department of Advanced Manufacturing and Robotics,College of Engineering,Peking University,Beijing 100871,China

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National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaInnovation and Entrepreneurship Talent funding Project of Jilin ProvinceChangchun Science and Technology ProjectOpen Research Fund of National Mobile Communications Research Laboratory,Southeast University

623730656187330462173048621060232022QN0421ZY412024D09

2024

10.1109/JAS.2024.124425

自动化学报(英文版)
中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI
ISSN：2329-9266
年,卷(期)：2024.11(7)