Abstract
This paper investigates both the time-varying formation and multiple time-varying formation tracking problems of networked heterogeneous robotic systems (NHRSs) with parameter uncertainties and external disturbances in the task space. Each robot inside can be either redundant or nonredundant. Several novel estimator-based hierarchical cooperative (EBHC) algorithms are designed to achieve both the tracking task and the possible preset subtasks for redundant robots. Besides, the designed estimator algorithms guarantee that each robot can obtain the accurate information of their corresponding leaders. By employing Lyapunov stability and input-to-state stability, sufficient conditions on the asymptotic stability of the error closed-loop system are derived. Finally, two simulation examples are presented to verify the effectiveness of the proposed algorithms.
Highlights
As a special case of the multiagent system, Euler–Lagrange dynamics are more applicative in many practical rigid structure modeling, especially the networked robotic system (NRS), which has gained increasing popularity due to its extensive potential applications, including industrial manufacture, search missions, and rescue missions [28]
Complexity when performing tasks, redundant robots are generally more functional than the nonredundant robots for their extra degrees of freedom (DOFs) and usually utilized to perform some corresponding subtasks [32]. us, in a system and an application view, it is of great significance to investigate the task-space cooperative control of networked heterogeneous robotic systems (NHRSs)
Based on the above discussions, this paper investigates both the time-varying formation and multiple time-varying formation problems of NHRSs in the task space with parameter uncertainties and external disturbances. e main contributions of this paper can be summed up threefold: (1)
Summary
The researches on distributed cooperative control of multiagent systems have attracted increasing attentions for its superiority over the traditional centralized control, such as stronger robustness, less energy consumption, and more flexibility [1], which has brought out a series of related topics, including consensus [2,3,4], distributed optimization in smart grids [5], consensus tracking [6,7,8], optimal tracking [9,10,11,12,13], bipartite consensus/tracking [14, 15], formation [16,17,18,19], formationcontainment [20,21,22], synchronization [23,24,25,26], and flocking [27]. Us, in a system and an application view, it is of great significance to investigate the task-space cooperative control of networked heterogeneous robotic systems (NHRSs). Dong et al have studied the time-varying formation tracking problem of multiagent systems under switching topologies in [18]. It becomes extremely challenging to study the time-varying formation tracking problem of NHRSs in the task space with parameter uncertainties and external disturbances. Based on the above discussions, this paper investigates both the time-varying formation and multiple time-varying formation problems of NHRSs in the task space with parameter uncertainties and external disturbances. E time-varying formation and multiple time-varying formation tracking problems of NHRSs in the task space are firstly studied and successfully addressed by designing several novel estimator-based hierarchical cooperative (EBHC) algorithms. For given l > 0 and I [I1, I2, . . . , In]T, one has sig(I)l [sgn(I1) |I|l, sgn(I2)|I|l, . . . , sgn(In)|I|l]T
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