Multiple symmetric task control for networked robot systems over switching network topology

被引：0

作者：

Wang, Zhaoyan ^{[1
,2
]}

Li, Hengyu ^{[1
]}

Liu, Jun ^{[3
]}

Wang, Yueying ^{[1
]}

Xie, Shaorong ^{[4
]}

Luo, Jun ^{[5
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai, Peoples R China

[2] Jining Univ, Sch Math & Big Data, Qufu, Peoples R China

[3] Jining Univ, Sch Comp Sci & Engn, Qufu, Peoples R China

[4] Shanghai Univ, Sch Comp Sci, Shanghai, Peoples R China

[5] Chongqing Univ, Coll Mech & Vehicle Engn, Chongqing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2024年 / 34卷 / 15期

基金：

中国国家自然科学基金;

关键词：

acyclic partition; distributed control; multiple symmetric task control; networked robot systems; parametric uncertainties; EULER-LAGRANGE SYSTEMS; BIPARTITE CONSENSUS; MULTIAGENT SYSTEMS; SYNCHRONIZATION; SWARM;

D O I：

10.1002/rnc.7541

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article addresses the multiple symmetric task control issue of networked robot systems modeled by the Euler-Lagrange equation under a switching communication network topology. A distributed coordinated control protocol is presented with the aid of multiple virtual leaders. Based on the special structure of the network topology, some geometric convergence criteria under which the network can realize multiple symmetric consensus is given. Finally, two simulations conducted on seven two-link revolute arms and eleven mass agents are proposed to illustrate our design, respectively.

引用

页码：10750 / 10764

页数：15

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