An intermittent controller for robotic manipulator in task space was developed in this paper.In task space,for given a desired time-varying trajectory,the robot end-effector can track the desired target under the desi...An intermittent controller for robotic manipulator in task space was developed in this paper.In task space,for given a desired time-varying trajectory,the robot end-effector can track the desired target under the designed intermittent controller.Different from most of the existing works on control of robotic manipulator,the intermittent control for robotic manipulator is discussed in task space instead of joint space.Besides,the desired trajectory can be time-varying and not limited to constant.As a direct application,the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task space.Numerical simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.展开更多
An impulsive control scheme is proposed to investigate the tracking synchronization of ring and inline networked Lagrangian systems.Given a time-varying target trajectory,some algebraic synchronization criteria are de...An impulsive control scheme is proposed to investigate the tracking synchronization of ring and inline networked Lagrangian systems.Given a time-varying target trajectory,some algebraic synchronization criteria are derived to make the networked Lagrangian systems synchronize to the target trajectory.A distinctive feature of the proposed work is that the impulsive control scheme is used to investigate the highly nonlinear Lagrangian systems.By the impulsive control,each agent described by the Lagrangian system instantaneously interacts with its neighbors only at some discrete moments.Furthermore,the proposed control strategy requires only local coupling feedback for global convergence.As a direct application of the obtained theoretical results,the tracking synchronization of multiple 3-DOF mobile robots is discussed in detail and simulated.Simulation results verify the effectiveness of the proposed control strategy.展开更多
基金the National Natural Science Foundation of China under Grant No.61603174the Natural Science Foundation of Fujian under Grant No.2020J01793。
文摘An intermittent controller for robotic manipulator in task space was developed in this paper.In task space,for given a desired time-varying trajectory,the robot end-effector can track the desired target under the designed intermittent controller.Different from most of the existing works on control of robotic manipulator,the intermittent control for robotic manipulator is discussed in task space instead of joint space.Besides,the desired trajectory can be time-varying and not limited to constant.As a direct application,the authors implemented the proposed controller on tracking of a two-link robotic manipulator in task space.Numerical simulations demonstrate the effectiveness and feasibility of the proposed intermittent control strategy.
基金supported by the National Natural Science Foundation of China under Grant No.61603174the 2015th Training Programme Foundation for Excellent Youth Researching Talents of Fujian’s Universities under Grant No.2001B11540
文摘An impulsive control scheme is proposed to investigate the tracking synchronization of ring and inline networked Lagrangian systems.Given a time-varying target trajectory,some algebraic synchronization criteria are derived to make the networked Lagrangian systems synchronize to the target trajectory.A distinctive feature of the proposed work is that the impulsive control scheme is used to investigate the highly nonlinear Lagrangian systems.By the impulsive control,each agent described by the Lagrangian system instantaneously interacts with its neighbors only at some discrete moments.Furthermore,the proposed control strategy requires only local coupling feedback for global convergence.As a direct application of the obtained theoretical results,the tracking synchronization of multiple 3-DOF mobile robots is discussed in detail and simulated.Simulation results verify the effectiveness of the proposed control strategy.
