Neural networks for robot arm cooperation with a hierarchical 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 studies the decentralized robot arm cooperation with a hierarchical control topology. We present in this chapter a novel strategy capable of solving the problem even though there exists some robot arms unable to access the command signal directly. The cooperative task execution problem can be formulated as a constrained quadratic programming problem. By replacing the command signal with estimations with neighbor information, the control law becomes to work in the partial command coverage situation. We then prove in theory that the system indeed also globally stabilizes to the optimal solution of the constrained quadratic optimization problem. Simulations demonstrate the effectiveness of the method presented in this chapter.

Original languageEnglish
Title of host publicationSpringerBriefs in Applied Sciences and Technology
PublisherSpringer-Verlag
Pages31-48
Number of pages18
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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