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- Title
Multi-target tracking of networked heterogeneous collaborative robots in task space.
- Authors
Liang, Chang-Duo; Wang, Leimin; Yao, Xiang-Yu; Liu, Zhi-Wei; Ge, Ming-Feng
- Abstract
This paper investigates the multi-target tracking problem of networked heterogeneous collaborative robots with parametric uncertainties and external disturbances in the task space, where each robot can be kinematic redundant or non-redundant. The acceleration of the targets can either belong to L 2 or L ∞ space. A uniform distributed controller–estimator algorithm is designed to solve the aforementioned problem. The sufficient conditions for both zero-error stability and Lagrange stability of the closed-loop system are derived. Finally, simulation examples are illustrated to demonstrate the effectiveness of the main results.
- Subjects
SPACE robotics; ROBOTS; CLOSED loop systems; SPACE; TASKS
- Publication
Nonlinear Dynamics, 2019, Vol 97, Issue 2, p1159
- ISSN
0924-090X
- Publication type
Article
- DOI
10.1007/s11071-019-05038-x