Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays  

作　　者：Long Jin Xin Zheng Xin Luo 

机构地区：[1]School of Information Science and Engineering,Lanzhou University,Lanzhou 730000 [2]IEEE [3]State Key Laboratory of Integrated Services Networks,Xidian University,Xi’an 710071,China [4]School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065 [5]Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400714,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第5期854-863,共10页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China (62176109);the Natural Science Foundation of Gansu Province(21JR7RA531);the Team Project of Natural Science Foundation of Qinghai Province China (2020-ZJ-903);the State Key Laboratory of Integrated Services Networks (ISN23-10);the Gansu Provincial Youth Doctoral Fund of Colleges and Universities (2021QB-003);the Fundamental Research Funds for the Central Universities (lzujbky-2021-65);the Supercomputing Center of Lanzhou University;the Natural Science Foundation of Chongqing(cstc2019jcyjjq X0013);the CAAIHuawei Mind Spore Open Fund (CAAIXS JLJJ-2021-035A);the Pioneer Hundred Talents Program of Chinese Academy of Sciences

摘　　要：Time-delay phenomena extensively exist in practical systems,e.g.,multi-agent systems,bringing negative impacts on their stabilities.This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme.Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value,it is proved that all manipulators in the distributed network are able to reach a desired motion.The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem,and a neural dynamics solver is designed to solve it online.Then,the proposed neural dynamics solver is proved to be stable,convergent and robust.Additionally,the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated.Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.

关 键 词：Distributed collaborative control neural dynamics redundancy resolution repetitive motion planning(RMP) time delay 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]