Dynamic neural networks aided distributed cooperative control of manipulators capable of different performance indices

Abstract This paper presents a distributed scheme for the control of multiple redundant manipulators to simultaneously achieve four objectives, i.e., the task to reach global cooperation, joint-physical limits compliance, limited communications among manipulators and optimality in terms of a specified performance index. In addition, corresponding theoretical analyses are provided, which guarantee that, with the communication network being connected, all manipulators can jointly obtain the same desired motion information. Then, the proposed scheme is converted into a quadratic program (QP) formed formulation and solved by a dynamic neural network with rigorously provable convergence. Furthermore, simulations and comparisons are provided to illustrate the effectiveness of the proposed distributed scheme as well as the presented dynamic neural network.

[1]  Xiaodi Li,et al.  Dissipativity analysis of memristor-based complex-valued neural networks with time-varying delays , 2015, Inf. Sci..

[2]  Yunong Zhang,et al.  Design and experimentation of acceleration-level drift-free scheme aided by two recurrent neural networks , 2013 .

[3]  MengChu Zhou,et al.  Stochastic Modeling and Quality Evaluation of Infrastructure-as-a-Service Clouds , 2015, IEEE Transactions on Automation Science and Engineering.

[4]  Shuai Li,et al.  Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks , 2017, IEEE Transactions on Industrial Electronics.

[5]  Shuai Li,et al.  A Noise-Suppressing Neural Algorithm for Solving the Time-Varying System of Linear Equations: A Control-Based Approach , 2019, IEEE Transactions on Industrial Informatics.

[6]  Ming Chen,et al.  Adaptive fuzzy funnel control for a class of strict feedback nonlinear systems , 2017, Neurocomputing.

[7]  MengChu Zhou,et al.  Modified Primal-Dual Neural Networks for Motion Control of Redundant Manipulators With Dynamic Rejection of Harmonic Noises , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[8]  Shuai Li,et al.  RNN Models for Dynamic Matrix Inversion: A Control-Theoretical Perspective , 2018, IEEE Transactions on Industrial Informatics.

[9]  Jiming Chen,et al.  Cooperative and Active Sensing in Mobile Sensor Networks for Scalar Field Mapping , 2015, IEEE Trans. Syst. Man Cybern. Syst..

[10]  Shuai Li,et al.  Decentralized control of collaborative redundant manipulators with partial command coverage via locally connected recurrent neural networks , 2012, Neural Computing and Applications.

[11]  Xiaoping Liu,et al.  Robust Adaptive Neural Tracking Control for a Class of Stochastic Nonlinear Interconnected Systems , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[12]  Shaocheng Tong,et al.  Adaptive Fuzzy Identification and Control for a Class of Nonlinear Pure-Feedback MIMO Systems With Unknown Dead Zones , 2015, IEEE Transactions on Fuzzy Systems.

[13]  Shuai Li,et al.  Zeroing neural networks: A survey , 2017, Neurocomputing.

[14]  Shaocheng Tong,et al.  Optimal Control-Based Adaptive NN Design for a Class of Nonlinear Discrete-Time Block-Triangular Systems , 2016, IEEE Transactions on Cybernetics.

[15]  Peter Xiaoping Liu,et al.  Adaptive fuzzy decentralized control for a class of interconnected nonlinear system with unmodeled dynamics and dead zones , 2016, Neurocomputing.

[16]  Shaocheng Tong,et al.  Data-based adaptive neural network optimal output feedback control for nonlinear systems with actuator saturation , 2017, Neurocomputing.

[17]  Yuanqing Li,et al.  Neural-Dynamic-Method-Based Dual-Arm CMG Scheme With Time-Varying Constraints Applied to Humanoid Robots , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[18]  Dongsheng Guo,et al.  Acceleration-Level Inequality-Based MAN Scheme for Obstacle Avoidance of Redundant Robot Manipulators , 2014, IEEE Transactions on Industrial Electronics.

[19]  Shuai Li,et al.  Neural Dynamics for Cooperative Control of Redundant Robot Manipulators , 2018, IEEE Transactions on Industrial Informatics.

[20]  Zhijun Zhang,et al.  Three Recurrent Neural Networks and Three Numerical Methods for Solving a Repetitive Motion Planning Scheme of Redundant Robot Manipulators , 2017, IEEE/ASME Transactions on Mechatronics.

[21]  Weihua Sheng,et al.  Multirobot Cooperative Learning for Predator Avoidance , 2015, IEEE Transactions on Control Systems Technology.

[22]  MengChu Zhou,et al.  An Efficient Second-Order Approach to Factorize Sparse Matrices in Recommender Systems , 2015, IEEE Transactions on Industrial Informatics.

[23]  Xiaodi Li,et al.  Impulsive Control for Existence, Uniqueness, and Global Stability of Periodic Solutions of Recurrent Neural Networks With Discrete and Continuously Distributed Delays , 2013, IEEE Transactions on Neural Networks and Learning Systems.

[24]  Zhi Liu,et al.  Personalized Variable Gain Control With Tremor Attenuation for Robot Teleoperation , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[25]  Shaocheng Tong,et al.  Neural Network Control-Based Adaptive Learning Design for Nonlinear Systems With Full-State Constraints , 2016, IEEE Transactions on Neural Networks and Learning Systems.

[26]  Shuai Li,et al.  Cooperative Motion Generation in a Distributed Network of Redundant Robot Manipulators With Noises , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[27]  Shuai Li,et al.  Robot manipulator control using neural networks: A survey , 2018, Neurocomputing.

[28]  Chenguang Yang,et al.  Neural-Learning-Based Telerobot Control With Guaranteed Performance , 2017, IEEE Transactions on Cybernetics.

[29]  Long Jin,et al.  Discrete-time Zhang neural network of O(τ3) pattern for time-varying matrix pseudoinversion with application to manipulator motion generation , 2014, Neurocomputing.

[30]  Shuai Li,et al.  Nonconvex function activated zeroing neural network models for dynamic quadratic programming subject to equality and inequality constraints , 2017, Neurocomputing.

[31]  Shuai Li,et al.  Decentralized kinematic control of a class of collaborative redundant manipulators via recurrent neural networks , 2012, Neurocomputing.

[32]  Shuai Li,et al.  Distributed Task Allocation of Multiple Robots: A Control Perspective , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[33]  Weijun Liu,et al.  Pseudoinverse-type bi-criteria minimization scheme for redundancy resolution of robot manipulators , 2014, Robotica.

[34]  Long Jin,et al.  G2-Type SRMPC Scheme for Synchronous Manipulation of Two Redundant Robot Arms , 2015, IEEE Transactions on Cybernetics.

[35]  Shuai Li,et al.  Kinematic Control of Redundant Manipulators Using Neural Networks , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[36]  Shaocheng Tong,et al.  Fuzzy Adaptive Control With State Observer for a Class of Nonlinear Discrete-Time Systems With Input Constraint , 2016, IEEE Transactions on Fuzzy Systems.

[37]  Lin Xiao,et al.  A nonlinearly activated neural dynamics and its finite-time solution to time-varying nonlinear equation , 2016, Neurocomputing.

[38]  Shuai Li,et al.  Distributed Recurrent Neural Networks for Cooperative Control of Manipulators: A Game-Theoretic Perspective , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[39]  Shaocheng Tong,et al.  Neural Approximation-Based Adaptive Control for a Class of Nonlinear Nonstrict Feedback Discrete-Time Systems , 2017, IEEE Transactions on Neural Networks and Learning Systems.

[40]  Chun-Yi Su,et al.  Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision , 2017, IEEE Transactions on Industrial Informatics.

[41]  Dongsheng Guo,et al.  Theoretical analysis, numerical verification and geometrical representation of new three-step DTZD algorithm for time-varying nonlinear equations solving , 2016, Neurocomputing.

[42]  Stephen P. Boyd,et al.  Convex Optimization , 2004, Algorithms and Theory of Computation Handbook.

[43]  Marcello Pellicciari,et al.  Energy Efficient Use of Multirobot Production Lines in the Automotive Industry: Detailed System Modeling and Optimization , 2014, IEEE Transactions on Automation Science and Engineering.

[44]  Yongming Li,et al.  Adaptive output-feedback control design with prescribed performance for switched nonlinear systems , 2017, Autom..

[45]  Shuai Li,et al.  Adaptive Near-Optimal Control of Uncertain Systems With Application to Underactuated Surface Vessels , 2018, IEEE Transactions on Control Systems Technology.