Neural networks for robot arm cooperation with a star 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 problem with a star control topology. The problem is formulated as a constrained quadratic program and then a recurrent neural network with independent modules is presented to solve the problem in a distributed manner. Each module in the neural network controls a single manipulator in real time without explicit communication with others and all the modules together collectively solve the common task. The global stability of the presented neural network and the optimality of the neural solution are proven in theory. Application orientated simulations demonstrate the effectiveness of the method.

Original languageEnglish
Title of host publicationSpringerBriefs in Applied Sciences and Technology
PublisherSpringer-Verlag
Pages13-30
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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