Neural networks for robot arm cooperation with a full distributed control topology

Shuai Li, Yinyan Zhang

Research output: Chapter in book / Conference proceedingChapter in an edited book (as author)Academic researchpeer-review

Abstract

This chapter considers cooperative kinematic control of multiple robot arms with a full distributed control topology by using distributed recurrent neural networks. The problem is formulated as a constrained game, where energy consumptions for each robot arm, saturations of control input, and the topological constraints imposed by the communication graph are taken into account. An implicit form of the Nash equilibrium for the game is obtained by converting the problem into its dual space. Then, a distributed dynamic controller based on recurrent neural networks is devised to drive the system towards the desired Nash equilibrium to seek the optimal solution of the cooperative control. Global stability and solution optimality of the neural networks are proved in theory. Simulations demonstrate the effectiveness of the method presented in this chapter.

Original languageEnglish
Title of host publicationSpringerBriefs in Applied Sciences and Technology
PublisherSpringer-Verlag
Pages49-74
Number of pages26
Edition9789811070365
DOIs
Publication statusPublished - 1 Jan 2018

Publication series

NameSpringerBriefs in Applied Sciences and Technology
Number9789811070365
ISSN (Print)2191-530X
ISSN (Electronic)2191-5318

ASJC Scopus subject areas

  • Biotechnology
  • Chemical Engineering(all)
  • Mathematics(all)
  • Materials Science(all)
  • Energy Engineering and Power Technology
  • Engineering(all)

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