Distributed collaborative control of redundant robots under weight-unbalanced directed graphs

Zheng, Xin; Liu, Mei; Jin, Long; Yang, Chenguang

Abstract

In consideration of the limitation of the communication and the possibility that redundant robots might deliver information at different power levels, cases under weight-unbalanced directed graphs from the network topology perspective are in larger accordance with those in multiple redundant robot systems. By moving forward along this direction, a distributed controller is proposed in this paper to handle circumstances of collaborative control of multiple redundant robots under weight-unbalanced directed graphs. This kind of control problem is modelled into generalized quadratic programming (QP) problems with equality and inequality constraints. Then, the above QP problems are solved by a proposed neural-dynamics-based method, whose stability and convergence are theoretically proved subsequently. Besides, several experimental examples are conducted, and related comparisons are provided to demonstrate the feasibility of the proposed controller.

Citation

Zheng, X., Liu, M., Jin, L., & Yang, C. (2024). Distributed collaborative control of redundant robots under weight-unbalanced directed graphs. IEEE Transactions on Industrial Informatics, 20(1), 681 - 690. https://doi.org/10.1109/TII.2023.3268778

• Journal Article Type: Article
• Acceptance Date: Apr 4, 2023
• Online Publication Date: Apr 24, 2023
• Publication Date: Jan 31, 2024
• Deposit Date: May 9, 2023
• Publicly Available Date: May 10, 2023
• Journal: IEEE Transactions on Industrial Informatics
• Print ISSN: 1551-3203
• Publisher: Institute of Electrical and Electronics Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 20
• Issue: 1
• Pages: 681 - 690
• DOI: https://doi.org/10.1109/TII.2023.3268778
• Keywords: Distributed collaborative control, weight-unbalanced directed graph, neural dynamics, redundant robot, Robots, Robot kinematics, Directed graphs, Collaboration, Service robots, Informatics, Kinematics
• Public URL: https://uwe-repository.worktribe.com/output/10746677
• Publisher URL: https://ieeexplore.ieee.org/document/10107417