Achieving Distributed Consensus in Networked Flexible-joint Manipulator Systems via Energy-shaping Scheme

Zheng, B; Ji, J; Miao, Z; Zhou, J

Achieving Distributed Consensus in Networked Flexible-joint Manipulator Systems via Energy-shaping Scheme

Zheng, B Ji, J

Miao, Z Zhou, J

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Publisher:: INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Publication Type:: Journal Article
Citation:: International Journal of Control, Automation and Systems, 2023, 21, (7), pp. 2323-2337
Issue Date:: 2023-07-01

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Field	Value	Language
dc.contributor.author	Zheng, B
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Miao, Z
dc.contributor.author	Zhou, J
dc.date.accessioned	2023-11-07T02:08:42Z
dc.date.available	2023-11-07T02:08:42Z
dc.date.issued	2023-07-01
dc.identifier.citation	International Journal of Control, Automation and Systems, 2023, 21, (7), pp. 2323-2337
dc.identifier.issn	1598-6446
dc.identifier.issn	2005-4092
dc.identifier.uri	http://hdl.handle.net/10453/173143
dc.description.abstract	This paper deals with the distributed consensus problem for networked flexible-joint manipulator systems which are formulated by underactuated Euler-Lagrange (EL) dynamics. Based on the energy-shaping scheme of passivity-based control (PBC) with interconnection and damping assignment, a novel decentralized controller is proposed to solve the leaderless and the leader-follower consensus problems. The main feature of the present work is the systematical integration of the energy of the systems composed of underactuated and actuated components and the energy of the controller as a total energy. Then the total energy is formulated as a suitable Lyapunov function to solve distributed consensus problems for the networked underactuated EL systems. The proposed consensus scheme without the need of velocity measurement possesses a relatively simple structure and good robustness. It is shown that interconnection pattern and damping assignment of the PBC are two key factors to affect the cooperative behavior of networked flexible-joint manipulator systems, which will be used to regulate or improve the cooperative performance of networked flexible-joint manipulator systems in practice. Finally, two numerical examples of networked six flexible-joint manipulator systems are presented to validate the correctness of the proposed algorithms.
dc.language	English
dc.publisher	INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
dc.relation.ispartof	International Journal of Control, Automation and Systems
dc.relation.isbasedon	10.1007/s12555-021-0869-3
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0906 Electrical and Electronic Engineering, 0910 Manufacturing Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.subject.classification	4007 Control engineering, mechatronics and robotics
dc.title	Achieving Distributed Consensus in Networked Flexible-joint Manipulator Systems via Energy-shaping Scheme
dc.type	Journal Article
utslib.citation.volume	21
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0910 Manufacturing Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2023-11-07T02:08:40Z
pubs.issue	7
pubs.publication-status	Published
pubs.volume	21
utslib.citation.issue	7

Abstract:

This paper deals with the distributed consensus problem for networked flexible-joint manipulator systems which are formulated by underactuated Euler-Lagrange (EL) dynamics. Based on the energy-shaping scheme of passivity-based control (PBC) with interconnection and damping assignment, a novel decentralized controller is proposed to solve the leaderless and the leader-follower consensus problems. The main feature of the present work is the systematical integration of the energy of the systems composed of underactuated and actuated components and the energy of the controller as a total energy. Then the total energy is formulated as a suitable Lyapunov function to solve distributed consensus problems for the networked underactuated EL systems. The proposed consensus scheme without the need of velocity measurement possesses a relatively simple structure and good robustness. It is shown that interconnection pattern and damping assignment of the PBC are two key factors to affect the cooperative behavior of networked flexible-joint manipulator systems, which will be used to regulate or improve the cooperative performance of networked flexible-joint manipulator systems in practice. Finally, two numerical examples of networked six flexible-joint manipulator systems are presented to validate the correctness of the proposed algorithms.

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http://hdl.handle.net/10453/173143