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Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics
Author(s) -
Wang Fujie,
Liu Zhi,
Chen C. L. Philip,
Zhang Yun
Publication year - 2019
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.4622
Subject(s) - control theory (sociology) , computer science , actuator , constraint (computer aided design) , robot , kinematics , controller (irrigation) , visual servoing , adaptive control , nonlinear system , control engineering , synchronization (alternating current) , control (management) , artificial intelligence , engineering , channel (broadcasting) , mechanical engineering , computer network , agronomy , physics , classical mechanics , quantum mechanics , biology
Summary This paper addresses the control issue for cooperative visual servoing manipulators on strongly connected graph with communication delays, in which case that the uncertain robot dynamics and kinematics, uncalibrated camera model, and actuator constraint are simultaneously considered. An adaptive cooperative image‐based approach is established to overcome the control difficulty arising from nonlinear coupling between visual model and robot agents. To estimate the coupled camera‐robot parameters, a novel adaptive strategy is developed and its superiority mainly lies in the containment of both individual image‐space errors and the synchronous errors among networked robots; thus, the cooperative performance is significantly strengthened. Moreover, the proposed cooperative controller with a Nussbaum‐type gain is implemented to both globally stabilize the closed‐loop systems and realize the synchronization control objective under the existence of unknown and time‐varying actuator constraint. Finally, simulations are carried out to validate the developed approach.