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arXiv · 1607.07535

Time-varying formation tracking of multiple manipulators via distributed finite-time control

Ming-Feng Ge·Zhi-Hong Guan·Chao Yang·Tao Li·Yan-Wu Wang
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Abstract

Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the time-varying formation tracking for multiple manipulator systems (MMSs) under fixed and switching directed graphs with a dynamic leader, whose acceleration cannot change too fast. An explicit mathematical formulation of time-varying formation is developed based on the related practical applications. A class of extended inverse dynamics control algorithms combining with distributed sliding-mode estimators are developed to address the aforementioned problem. By invoking finite-time stability arguments, several novel criteria (including sufficient criteria, necessary and sufficient criteria) for global finite-time stability of MMSs are established. Finally, numerical experiments are presented to verify the effectiveness of the theoretical results.

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Ming-Feng Ge, Zhi-Hong Guan, Chao Yang, Tao Li, Yan-Wu Wang. 2016-07-26. Time-varying formation tracking of multiple manipulators via distributed finite-time control. https://doi.org/10.1016/j.neucom.2016.03.008

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