Zhao Juanxia, Wang Yinhe, Gao Peitao, Li Shengping, Chen Haoguang
School of Automation, Guangdong University of Technology, Guangzhou 510006, China.
School of Electronics and Information, Guangdong Polytechnic Normal University, Guangzhou 510006, China.
Sensors (Basel). 2023 Nov 20;23(22):9275. doi: 10.3390/s23229275.
In general, a multiple robotic manipulator system (MRMS) with uncertainties can be considered a composition system with a robotic manipulator subsystem (RMS) and a communication strength subsystem (CSS), and both subsystems are coupled to each other. In this paper, a new position tracking control scheme is proposed for the MRMS while considering the communication strength dynamics between robotic manipulators. The control scheme designed in this paper consists of two parts: the first part is to design the control protocol in the RMS, and the second part is to design the coupling relationship in the CSS. Through these two parts, we can achieve the position tracking of an MRMS. Firstly, the dynamical mathematical model of the RMS and CSS in the MRMS is constructed, and the corresponding assumptions are given. Then, the corresponding stability analysis is proposed, which provides the basis for a theoretical understanding of the underlying problem. Finally, an illustrative example is presented to verify the effectiveness of the proposed control scheme.
一般而言，具有不确定性的多机器人机械臂系统（MRMS）可被视为由机器人机械臂子系统（RMS）和通信强度子系统（CSS）组成的复合系统，且这两个子系统相互耦合。本文在考虑机器人机械臂之间通信强度动态特性的情况下，为MRMS提出了一种新的位置跟踪控制方案。本文设计的控制方案由两部分组成：第一部分是在RMS中设计控制协议，第二部分是在CSS中设计耦合关系。通过这两部分，我们能够实现MRMS的位置跟踪。首先，构建了MRMS中RMS和CSS的动态数学模型，并给出了相应假设。然后，提出了相应的稳定性分析，为从理论上理解潜在问题提供了依据。最后，给出一个示例以验证所提控制方案的有效性。
