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Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms
Joint Authors
Chen, Chao-Yang
Ge, Ming-Feng
Liang, Chang-Duo
Zhan, Xi-Sheng
Xu, Guanghui
Chen, Jie
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-18, 18 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-02-14
Country of Publication
Egypt
No. of Pages
18
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Ge, Ming-Feng& Liang, Chang-Duo& Zhan, Xi-Sheng& Chen, Chao-Yang& Xu, Guanghui& Chen, Jie. 2020. Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms. Complexity،Vol. 2020, no. 2020, pp.1-18.
https://search.emarefa.net/detail/BIM-1144241
Modern Language Association (MLA)
Ge, Ming-Feng…[et al.]. Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms. Complexity No. 2020 (2020), pp.1-18.
https://search.emarefa.net/detail/BIM-1144241
American Medical Association (AMA)
Ge, Ming-Feng& Liang, Chang-Duo& Zhan, Xi-Sheng& Chen, Chao-Yang& Xu, Guanghui& Chen, Jie. Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms. Complexity. 2020. Vol. 2020, no. 2020, pp.1-18.
https://search.emarefa.net/detail/BIM-1144241
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144241