Recently, Chang-Duo Liang, a postgraduate from the team of Associate Professor Ming-Feng Ge in School of Mechanical Engineering and Electronic Information published his paper (IF=10.387) in IEEE Transactions on Cybernetics, a mainstream journal in the field of control. This paper designed several kinds of novel finite-time hierarchical control algorithms and successfully settled the problem of multiformation tracking of networked heterogeneous robotic systems. In addition, this paper proposed a systematic stability analysis method, which could provide the theoretical guide to the analysis of the related multi-collective behaviors.
Distributed cooperative control method had attracted attention from the researchers due to its advantages, such as strong robustness, flexibility and low energy consumption and so on. In addition, as the main drive of the modern industrial intelligent manufacturing, the research on the related robotic control method had become a research hotspot, especially the distributed control algorithms of networked heterogeneous robotic systems. However, at present, the existing research only tries to make the networked heterogeneous robotic systems achieve one single collective behavior. In fact, in the actual industrial application, in case that the networked heterogeneous robotic systems were required to accomplish more tasks, these control algorithms could not satisfy the actual demand. On the other hand, the rate of convergence was an important index of the control algorithm, which made the finite-time control method attract more and more attention. However, when confronted with networked heterogeneous robotic systems with strong coupling, high nonlinearity and complicated structure, the design of the finite-time control algorithm became a challenge, especially the research on the multi-collective behaviors.
Targeted towards the above-mentioned scientific problems, the research team took the actual robotic operating conditions (parameter uncertainty, external disturbance and kinematic redundancy) into full account and established the kinematic and dynamical modeling. Based on this, it designed several kinds of finite-time hierarchical control algorithms, successfully settled the problem of multiformation tracking of networked heterogeneous robotic systems and made up the existing vacancy in this field.
This paper was funded by National Natural Science Foundation (61703374) and specially funded by the Fundamental Research Funds for the Central Universities granted to China University of Geosciences (Wuhan) (1910491B05).
Paper information:
Tilte: Output Multiformation Tracking of Networked Heterogeneous Robotic Systems Via Finite-time Hierarchical Control
Authors: Chang-Duo Liang, Ming-Feng Ge, Zhi-Wei Liu, Yan-Wu Wang, Hamid Reza Karimi
Source: IEEE Transactions on Cybernetics
DOI: 10.1109/TCYB.2020.2968403
Published online: 12, February , 2020
Link: https://ieeexplore.ieee.org/document/8990015
