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Volume 9 Issue 5
May  2022

IEEE/CAA Journal of Automatica Sinica

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Article Contents
L. Jin, X. Zheng, and X. Luo, “Neural dynamics for distributed collaborative control of manipulators with time delays,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 5, pp. 854–863, May 2022. doi: 10.1109/JAS.2022.105446
Citation: L. Jin, X. Zheng, and X. Luo, “Neural dynamics for distributed collaborative control of manipulators with time delays,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 5, pp. 854–863, May 2022. doi: 10.1109/JAS.2022.105446

Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays

doi: 10.1109/JAS.2022.105446
Funds:  This work was supported in part by the National Natural Science Foundation of China (62176109), the Natural Science Foundation of Gansu Province (21JR7RA531), the Team Project of Natural Science Foundation of Qinghai Province China (2020-ZJ-903), the State Key Laboratory of Integrated Services Networks (ISN23-10), the Gansu Provincial Youth Doctoral Fund of Colleges and Universities (2021QB-003), the Fundamental Research Funds for the Central Universities (lzujbky-2021-65), the Supercomputing Center of Lanzhou University, the Natural Science Foundation of Chongqing (cstc2019jcyjjqX0013), the CAAIHuawei MindSpore Open Fund (CAAIXSJLJJ-2021-035A), and the Pioneer Hundred Talents Program of Chinese Academy of Sciences
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  • Time-delay phenomena extensively exist in practical systems, e.g., multi-agent systems, bringing negative impacts on their stabilities. This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme. Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value, it is proved that all manipulators in the distributed network are able to reach a desired motion. The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem, and a neural dynamics solver is designed to solve it online. Then, the proposed neural dynamics solver is proved to be stable, convergent and robust. Additionally, the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated. Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.


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    • It considers time delay for the first time when investigating the distributed collaborative control of redundant manipulators and analyzing their kinematic properties
    • It establishes allowable upper bound of time delay based on theoretical analyses and verifies the stability, convergence, and robustness of the designed distributed collaborative controller of redundant manipulators rigorously
    • It provides illustrative examples on CoppeliaSim and comparisons to prove the validity of the proposed neural dynamics scheme


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