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Admittance-based adaptive cooperative control for multiple manipulators with output constraints

Li, Yong; Yang, Chenguang; Yan, Weisheng; Cui, Rongxin; Annamalai, Andy

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Yong Li

Weisheng Yan

Rongxin Cui

Andy Annamalai


This paper proposes a novel adaptive control methodology based on the admittance model for multiple manipulators transporting a rigid object cooperatively along a predefined desired trajectory. First, an admittance model is creatively applied to generate reference trajectory online for each manipulator according to the desired path of the rigid object, which is the reference input of the controller. Then, an innovative integral barrier Lyapunov function is utilized to tackle the constraints due to the physical and environmental limits. Adaptive neural networks (NNs) are also employed to approximate the uncertainties of the manipulator dynamics. Different from the conventional NN approximation method, which is usually semiglobally uniformly ultimately bounded, a switching function is presented to guarantee the global stability of the closed loop. Finally, the simulation studies are conducted on planar two-link robot manipulators to validate the efficacy of the proposed approach.

Journal Article Type Article
Acceptance Date Jan 27, 2019
Online Publication Date Mar 1, 2019
Publication Date Dec 1, 2019
Deposit Date Mar 4, 2019
Publicly Available Date Apr 1, 2019
Journal IEEE Transactions on Neural Networks and Learning Systems
Print ISSN 2162-237X
Electronic ISSN 2162-2388
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 30
Issue 12
Pages 3621-3632
Public URL
Publisher URL
Additional Information Additional Information : (c) 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Contract Date Mar 4, 2019


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