Human-Robot Coordination Control for Heterogeneous Euler-Lagrange Systems Under Communication Delays and Relative Position

Van Tam Ngo, Yen Chen Liu

研究成果: Article同行評審

6 引文 斯高帕斯(Scopus)

摘要

Human intelligence, cognition, and skills can be applied to robots to accomplish challenging tasks through cooperative control between humans and robots. In this article, we propose two control frameworks for the human teleoperation of multiple robots under undirected and directed graphs. The two control laws are considered for two cases: 1) when both the relative positions and velocities of the robots are available, and 2) when only the relative positions are available. In this article, we first propose a controller that integrates adaptive neural networks, task-space synchronization, and robust control to address several practical issues related to uncertainty in robotic systems, (e.g., model inaccuracy, time delay, and disturbance). Second, another control algorithm using only the relative position information is addressed by using distributed observers on the remote side. As a result, the system is proven to be stable, and the tracking errors of position and velocity are uniformly and ultimately bounded. Finally, the effectiveness of the proposed control algorithms is verified by experimental demonstration.

原文English
頁(從 - 到)1761-1771
頁數11
期刊IEEE Transactions on Industrial Electronics
70
發行號2
DOIs
出版狀態Published - 2023 2月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電氣與電子工程

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