Non-fragile consensus control of networked robotic manipulators with topology-dependent memory

doi:10.1108/AA-01-2018-001

	Non-fragile consensus control of networked robotic manipulators with topology-dependent memory
	Ma, Chao 1; Li, Rui2 ; Qiao, Hong2,3
刊名	ASSEMBLY AUTOMATION
	2018
卷号	38 期号:5 页码:625-634
关键词	Robotic manipulators Consensus control Non-fragile consensus Topology-dependent memory
ISSN号	0144-5154
DOI	10.1108/AA-01-2018-001
通讯作者	Ma, Chao(cma@ustb.edu.cn)
英文摘要	Purpose The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent memory. Design/methodology/approach This paper proposes a topology-dependent memory protocol with distributed consensus controllers for multiple networked robotic manipulators. Findings The distributed controller gain fluctuations are taken into account with sampled data information exchanges. By the derived results of model transformation, the topology-dependent memory protocol is investigated using sufficient consensus criteria in the form of linear matrix inequalities. Originality/value A novel consensus protocol with topology-dependent memory is designed, which can potentially improve consensus performance and deal with the controller gain fluctuations of the robotic manipulators in practical applications.
资助项目	National Natural Science Foundation of China[61703038] ; National Natural Science Foundation of China[61627808] ; National Natural Science Foundation of China[9164820] ; National Key Research and Development Program of China[SQ2017YFB130092]
WOS关键词	H-INFINITY ; SYSTEMS ; STABILITY
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
出版者	EMERALD GROUP PUBLISHING LTD
WOS记录号	WOS:000452702800011
资助机构	National Natural Science Foundation of China ; National Key Research and Development Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25667]
专题	中国科学院自动化研究所
通讯作者	Ma, Chao
作者单位	1.Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.Ctr Excellence Brain Sci & Intelligence Technol, Inst Neurosci, Shanghai, Peoples R China
推荐引用方式 GB/T 7714	Ma, Chao,Li, Rui,Qiao, Hong. Non-fragile consensus control of networked robotic manipulators with topology-dependent memory[J]. ASSEMBLY AUTOMATION,2018,38(5):625-634.
APA	Ma, Chao,Li, Rui,&Qiao, Hong.(2018).Non-fragile consensus control of networked robotic manipulators with topology-dependent memory.ASSEMBLY AUTOMATION,38(5),625-634.
MLA	Ma, Chao,et al."Non-fragile consensus control of networked robotic manipulators with topology-dependent memory".ASSEMBLY AUTOMATION 38.5(2018):625-634.