A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective

Zhang, Jiazheng; Jin, Long; Wang, Yang; Yang, Chenguang

doi:10.1109/TMECH.2022.3193136

A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective

Zhang, Jiazheng; Jin, Long; Wang, Yang; Yang, Chenguang

Authors

Jiazheng Zhang

Long Jin

Yang Wang

Charlie Yang Charlie.Yang@uwe.ac.uk
Professor in Robotics

Abstract

In some task-oriented multimanipulator applications, the system not only needs to complete the main assigned tasks, but also should optimize some subobjectives. In order to tap the redundancy potential of individual manipulators and improve the performance of the system, a hybrid multiobjective optimization solution with robustness is proposed in accordance with the realistic execution requirements of the tasks. The entire control scheme is designed from the perspective of the Nash game and further refined into a problem to determine the Nash equilibrium point. Furthermore, a neural-network-assisted model is established to seek the best response of each manipulator to others. Theoretical analysis provides support for proving the convergence and robustness of the model. Finally, the feasibility of the control design is illustrated by simulation studies of the multimanipulator system.

Citation

Zhang, J., Jin, L., Wang, Y., & Yang, C. (2023). A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective. IEEE/ASME Transactions on Mechatronics, 28(1), 128-139. https://doi.org/10.1109/TMECH.2022.3193136

Journal Article Type	Article
Acceptance Date	Jul 18, 2022
Online Publication Date	Aug 5, 2022
Publication Date	Feb 1, 2023
Deposit Date	Oct 4, 2022
Publicly Available Date	Oct 4, 2022
Journal	IEEE/ASME Transactions on Mechatronics
Print ISSN	1083-4435
Electronic ISSN	1941-014X
Publisher	Institute of Electrical and Electronics Engineers
Peer Reviewed	Peer Reviewed
Volume	28
Issue	1
Pages	128-139
DOI	https://doi.org/10.1109/TMECH.2022.3193136
Keywords	Electrical and Electronic Engineering, Computer Science Applications, Control and Systems Engineering, Distributed control, hybrid multiobjective optimization, neural networks, redundancy resolution, Manipulators , Task analysis, Robots, Index
Public URL	https://uwe-repository.worktribe.com/output/9891304
Publisher URL	https://ieeexplore.ieee.org/document/9851536

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Copyright Statement
This is the author’s accepted manuscript of the article 'Zhang, J., Jin, L., Wang, Y., & Yang, C. (2023). A collaboration scheme for controlling multimanipulator system: A game-theoretic perspective. IEEE/ASME Transactions on Mechatronics, 28(1), 128-139'.

DOI: https://doi.org/10.1109/TMECH.2022.3193136

The final published version is available here: https://ieeexplore.ieee.org/document/9851536

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