Robust synchronisation of networked Lagrangian systems and its applications to multi-robot teleoperation
Robust synchronisation of networked Lagrangian systems and its applications to multi-robot teleoperation
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DOI：
10.1049/iet-cta.2013.0914
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发表时间：
2015-01-02
影响因子：
2.6
通讯作者：
Liu, Yen-Chen
中科院分区：
文献类型：
--
作者：
Liu, Yen-Chen
研究了动态不确定性和通信延迟条件下网络拉格朗日系统的鲁棒同步问题。利用加权存储函数，提出了一种鲁棒控制方案，以保证网络拉格朗日系统在强连接通信图上获得最终有界解。由于所开发的控制系统能够在没有共同轨迹的情况下保证动作的同步，因此将鲁棒控制算法应用于多远程机器人的双边遥操作。解决方案的最终有界性可以使远程操作系统考虑到当人类操作员间歇性地干预本地机器人时不确定动力学的存在。最后给出了一组双连杆非线性机器人系统的数值算例，验证了所提出的控制算法的有效性。
This study studies robust synchronisation for networked Lagrangian systems under dynamic uncertainties and communication delays. Using weighted storage functions, the authors propose a robust control scheme to guarantee that networked Lagrangian systems achieve ultimately bounded solutions over strongly connected communication graphs. Since the developed control system can ensure synchronous action in the absence of a common trajectory, the robust control algorithm is applied for bilateral teleoperations with multiple remote robots. The ultimate boundedness of the solutions can enable the teleoperation system to account for the presence of uncertain dynamics when a human operator intermittently intervenes on local robots. Numerical examples of a group of two-link non-linear robotic systems are presented to validate the efficacy of the developed control algorithms.