Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises:A Distributed ApproachOACSTPCDEI
Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises:A Distributed Approach
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.
Yufeng Lian;Xingtian Xiao;Jiliang Zhang;Long Jin;Junzhi Yu;Zhongbo Sun
Department of Control Engineering,Changchun University of Technology,Changchun 130012,ChinaCollege of Information Science and Engineering,Northeastern University,Shenyang 110819||National Mobile Communications Research Laboratory,Southeast University,Nanjing 210096,ChinaSchool of Information Science and Engineering,Lanzhou University,Lanzhou 730000,ChinaState Key Laboratory for Turbulence and Complex Systems,Department of Advanced Manufacturing and Robotics,College of Engineering,Peking University,Beijing 100871,China
Cooperative motion controlnoise-tolerant zeroing neural network(NTZNN)omnidirectional mobile manipulator(OMM)repetitive motion planning
《自动化学报（英文版）》 2024 (007)
1605-1620 / 16
The work was supported in part by the National Natural Science Foundation of China(62373065,61873304,62173048,62106023),the Innovation and Entrepreneurship Talent funding Project of Jilin Province(2022QN04),the Changchun Science and Technology Project(21ZY41),and the Open Research Fund of National Mobile Communications Research Laboratory,Southeast University(2024D09).
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