Consensus Control for Networked Manipulators With Switched Parameters and Topologies
TL;DR: In this article, a distributed switched consensus control algorithm for a group of robot manipulators is proposed to solve abrupt occurrence of parameters jumping and directed communication topologies changing in the control process of networked manipulators, and a unified analysis methodology is developed to perform convergence analysis for the closed-loop system by Lyapunov stable theory.
Abstract: To solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process of networked manipulators, in this paper, distributed switched consensus control algorithms are formulated for a group of robot manipulators in realizing cooperative consensus performance. In fact, networked Lagrange systems are modeled as switched systems regarding the different parameters and topologies. Namely, the dynamic models switch when the system parameters or the topology structures change. The consensus control strategy is constructed by resorting to (improved) average dwell time (ADT) method and sliding-mode control technique, and a unified analysis methodology is developed to perform the convergence analysis for the closed-loop system by Lyapunov stable theory. The main contribution of this paper is the development of a systematically adaptive consensus algorithm by simultaneously considering shifting parameters and switching communication network (as two unavoidable key factors) in the process of communication interaction among robots. A distinctive feature of the developed consensus protocol is to introduce the directed network topology characterizing the local communication interaction among robots, which is especially suitable for representing the the structures and features of the realistic cooperative multi-robotic systems. Accordingly, the developed consensus tracking strategy for manipulators possess prominent advantages including robustness,stability and effectiveness over the existing concentrated on single robot counterparts. Finally, numerical simulations of two-link manipulators are performed to illustrate the effectiveness of the obtained control algorithm.
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References
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TL;DR: In this paper, the authors survey three basic problems regarding stability and design of switched systems, including stability for arbitrary switching sequences, stability for certain useful classes of switching sequences and construction of stabilizing switching sequences.
Abstract: By a switched system, we mean a hybrid dynamical system consisting of a family of continuous-time subsystems and a rule that orchestrates the switching between them. The article surveys developments in three basic problems regarding stability and design of switched systems. These problems are: stability for arbitrary switching sequences, stability for certain useful classes of switching sequences, and construction of stabilizing switching sequences. We also provide motivation for studying these problems by discussing how they arise in connection with various questions of interest in control theory and applications.
3,566 citations
TL;DR: The approach followed in this paper looks at the existence of a switched quadratic Lyapunov function to check asymptotic stability of the switched system under consideration and shows that the second condition is, in this case, less conservative.
Abstract: This paper addresses the problem of stability analysis and control synthesis of switched systems in the discrete-time domain. The approach followed in this paper looks at the existence of a switched quadratic Lyapunov function to check asymptotic stability of the switched system under consideration. Two different linear matrix inequality-based conditions allow to check the existence of such a Lyapunov function. The first one is classical while the second is new and uses a slack variable, which makes it useful for design problems. These two conditions are proved to be equivalent for stability analysis. Investigating the static output feedback control problem, we show that the second condition is, in this case, less conservative. The reduction of the conservatism is illustrated by a numerical evaluation.
1,398 citations
TL;DR: The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems.
1,252 citations
01 Oct 2000
TL;DR: An adaptive extension of the kinematic controller for the dynamic model of a nonholonomic mobile robot with unknown parameters is proposed, and a torque adaptive controller is derived by using the k cinematic controller.
Abstract: A mobile robot is one of the well-known nonholonomic systems. The integration of a kinematic controller and a torque controller for the dynamic model of a nonholonomic mobile robot has been presented (Fierro and Lewis, 1995). In this paper, an adaptive extension of the controller is proposed. If an adaptive tracking controller for the kinematic model with unknown parameters exists, an adaptive tracking controller for the dynamic model with unknown parameters can be designed by using an adaptive backstepping approach. A design example for a mobile robot with two actuated wheels is provided. In this design, a new kinematic adaptive controller is proposed, then a torque adaptive controller is derived by using the kinematic controller.
771 citations
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600 citations