典型文献
Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays
文献摘要：
Time-delay phenomena extensively exist in practical systems, e.g., multi-agent systems, bringing negative impacts on their stabilities. This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme. Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value, it is proved that all manipulators in the distributed network are able to reach a desired motion. The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem, and a neural dynamics solver is designed to solve it online. Then, the proposed neural dynamics solver is proved to be stable, convergent and robust. Additionally, the allowable threshold value of time delay that ensures the proposed scheme's stability is calculated. Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.
文献关键词：
中图分类号：
作者姓名：
Long Jin;Xin Zheng;Xin Luo
作者机构：
School of Information Science and Engineering,Lanzhou University,Lanzhou 730000;State Key Laboratory of Integrated Services Networks,Xidian University,Xi'an 710071,China;School of Computer Science and Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065;Chongqing Institute of Green and Intelligent Technology,Chinese Academy of Sciences,Chongqing 400714,China
文献出处：
引用格式：
[1]Long Jin;Xin Zheng;Xin Luo-.Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays)[J].自动化学报（英文版）,2022(05):854-863
A类：
Manipulators
B类：
Neural,Dynamics,Distributed,Collaborative,Control,With,Time,Delays,phenomena,extensively,practical,systems,multi,agent,bringing,negative,impacts,their,stabilities,This,analyzes,collaborative,control,problem,redundant,manipulators,delays,proposes,delayed,distributed,neural,dynamics,scheme,Under,assumptions,that,network,topology,fixed,connected,existing,maximal,more,than,threshold,value,proved,are,reach,desired,motion,proposed,considered,converted,into,variant,optimization,solver,designed,online,Then,be,stable,convergent,robust,Additionally,allowable,ensures,stability,calculated,Illustrative,examples,comparisons,provided,intuitively,validity
AB值：
0.559832
相似文献
机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
