Journal ArticleDOI
Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space
Yen-Chen Liu,Nikhil Chopra +1 more
TLDR
An adaptive control algorithm is proposed to guarantee task-space synchronization of networked robotic manipulators in the presence of dynamic uncertainties and time-varying communication delays.Abstract:
Passivity-based control has emerged as an important paradigm for synchronization of networked robotic systems. Despite the practical utility of task-space algorithms, the previous results focused on joint-space synchronization and were primarily derived for kinematically identical manipulators. Hence, in this paper, the problem of task-space synchronization of (possibly redundant) heterogeneous robotic systems is studied. By exploiting passivity-based synchronization results that are developed previously, an adaptive control algorithm is proposed to guarantee task-space synchronization of networked robotic manipulators in the presence of dynamic uncertainties and time-varying communication delays. To demonstrate the efficacy of the proposed framework, numerical simulations and experiments are conducted with redundant and nonredundant manipulators, respectively.read more
Citations
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Journal ArticleDOI
Passivity and Output Synchronization of Complex Dynamical Networks With Fixed and Adaptive Coupling Strength
TL;DR: A complex dynamical network model, in which the input and output vectors have different dimensions, is considered, and two new passivity definitions are proposed, which generalize some existing concepts of passivity.
Journal ArticleDOI
Passivity based synchronization for networked robotic systems with uncertain kinematics and dynamics
TL;DR: An adaptive scheme is proposed to achieve controlled synchronization of the networked robotic systems on strongly connected graphs with a weighted Lyapunov-Krasovskii function and it is shown that both the task-space tracking errors and synchronization errors of thenetworked robotic agents converge to zero.
Journal ArticleDOI
Control of semi-autonomous teleoperation system with time delays
Yen-Chen Liu,Nikhil Chopra +1 more
TL;DR: A semi-autonomous control framework for bilateral teleoperation consisting of heterogeneous master and slave robots, where the slave robot is assumed to be a redundant manipulator, and all signals of the proposed teleoperation system are proven to be ultimately bounded.
Journal ArticleDOI
Task-Space Synchronization of Networked Robotic Systems With Uncertain Kinematics and Dynamics
TL;DR: A cascade framework is proposed to facilitate the synchronization controller design for networked robotic systems with an adaptive task-space synchronization scheme with indirect/direct kinematic parameter adaptations and a direct dynamic parameter adaptation for the networked robots.
Journal ArticleDOI
Consensus in Networks of Nonidentical Euler–Lagrange Systems Using P+d Controllers
TL;DR: A proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point is presented.
References
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Journal ArticleDOI
Modeling and control of formations of nonholonomic mobile robots
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Journal ArticleDOI
Adaptive manipulator control: A case study
TL;DR: In this article, a simple adaptive controller for manipulator trajectory control problems is proposed, which is shown to have the same level of robustness to unmodeled dynamics as a PD (proportional and differential) controller yet achieves much better tracking accuracy than either PD or computed-torque schemes.