TY - GEN
T1 - Human-in-the-Loop Task-Space Coordination Control for Heterogeneous Robotic Systems with Delayed Network
AU - Ngo, Van Tam
AU - Liu, Yen Chen
N1 - Funding Information:
This work was supported in part by the Ministry of Science and Technology (MOST), Taiwan, under grant MOST 108-2636-E-006-007 and MOST 109-2636-E-006-019.
Publisher Copyright:
© 2021 American Automatic Control Council.
PY - 2021/5/25
Y1 - 2021/5/25
N2 - In this paper, we propose a distributed control algorithm for an operator to remotely interact with a network of multiple robotic systems to exploit the advantage of complementary capabilities of humans and networked robots. A controller that combines adaptive neural network, task-space synchronization, and robust control algorithm, is proposed to account for several practical issues such as uncertain dynamic model, disturbance, and time delays communication. On the basis of Lyapunov technique, the system stability and boundedness of tracking errors are proven. Semi-experiments with a network of heterogeneous robotic systems are carried to verify and demonstrate the efficacy/potency of the proposed control framework.
AB - In this paper, we propose a distributed control algorithm for an operator to remotely interact with a network of multiple robotic systems to exploit the advantage of complementary capabilities of humans and networked robots. A controller that combines adaptive neural network, task-space synchronization, and robust control algorithm, is proposed to account for several practical issues such as uncertain dynamic model, disturbance, and time delays communication. On the basis of Lyapunov technique, the system stability and boundedness of tracking errors are proven. Semi-experiments with a network of heterogeneous robotic systems are carried to verify and demonstrate the efficacy/potency of the proposed control framework.
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U2 - 10.23919/ACC50511.2021.9483398
DO - 10.23919/ACC50511.2021.9483398
M3 - Conference contribution
AN - SCOPUS:85111917997
T3 - Proceedings of the American Control Conference
SP - 2751
EP - 2756
BT - 2021 American Control Conference, ACC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 American Control Conference, ACC 2021
Y2 - 25 May 2021 through 28 May 2021
ER -