A neural-network-based adaptive approach is proposed for the leader-following control of multiagent systems. The neural network used to approximate agent's uncertain dynamics, and approximation error external disturbances are counteracted by employing robust signal. When there no input constraint, it can be proved that all following agents track leader's time-varying state with tracking as small desired. Compared related work in literature, uncertainty dynamics taken into account; could...

In this paper, a neural networks (NNs) enhanced telerobot control system is designed and tested on Baxter robot. Guaranteed performance of the achieved at both kinematic dynamic levels. At level, automatic collision avoidance by design level exploiting joint space redundancy, thus human operator would be able to only concentrate motion robot's end-effector without concern possible collision. A posture restoration scheme also integrated based simulated parallel enable manipulator restore back...

Due to strongly coupled nonlinearities of the grasped dual-arm robot and internal forces generated by objects, control with uncertain kinematics dynamics raises a challenging problem. In this paper, an adaptive fuzzy scheme is developed for robot, where approximate Jacobian matrix applied address kinematic control, while decentralized logic controller constructed compensate robotic arms manipulated object. Also, novel finite-time convergence parameter adaptation technique estimation...

Piezoelectric actuators (PEAs) have been widely used in nanotechnology due to their characteristics of fast response, large mass ratio, and high stiffness. However, hysteresis, which is an inherent nonlinear property PEAs, greatly deteriorates the control performance PEAs. In this paper, a model predictive (NMPC) approach proposed for displacement tracking problem First, "nonlinear autoregressive-moving-average with exogenous inputs" (NARMAX) PEAs implemented by multilayer neural networks;...

The mean square consensus of linear multi-agent systems with communication noises is studied in this note. Each agent modeled by a continuous-time time-invariant dynamics and the fixed topology described digraph. proposed protocol composed two parts: agent's own state feedback relative states between its neighbor agents. Due to existence noises, cannot be obtained accurately. To attenuate noise effect, time-varying gain vector a(t)K applied inaccurate states. It proved that: 1) if has...

This article presents a control scheme for the robot manipulator's trajectory tracking task considering output error constraints and input saturation. We provide an alternative way to remove feasibility condition that most BLF-based controllers should meet design on premise constraint violation possibly happens due A bounded barrier Lyapunov function is proposed adopted handle constraints. Besides, suppress saturation effect, auxiliary system designed emerged into scheme. Moreover,...

In this paper, an admittance adaptation method has been developed for robots to interact with unknown environments. The environment be interacted is modeled as a linear system. the presence of dynamics environments, observer in robot joint space employed estimate interaction torque, and control adopted regulate behavior at points. An adaptive neural controller using radial basis function guarantee trajectory tracking. A cost that defines performance torque regulation tracking minimized by...

In this paper, an adaptive neural bounded control scheme is proposed for ${n}$ -link rigid robotic manipulator with unknown dynamics. With the combination of approximation and backstepping technique, network policy developed to guarantee tracking performance robot. Different from existing results, bounds designed controller are known a priori, they determined by gains, making them applicable within actuator limitations. Furthermore, also able compensate effect Via Lyapunov stability theory,...

Human-robot co-transportation allows for a human and robot to perform an object transportation task cooperatively on shared environment. This range of applications raises great number theoretical practical challenges arising mainly from the unknown human-robot interaction model as well difficulty accurately dynamics. In this article, adaptive impedance controller is put forward in space. Vision force sensing are employed obtain hand position, measure between robot. Using latest developments...

This paper investigates the tracking control of an electrically driven nonholonomic mobile robot with model uncertainties in kinematics, dynamics, and wheel actuator dynamics. A robust adaptive controller is proposed utilization control, backstepping fuzzy logic techniques. The scheme employs approach to design auxiliary velocity make error as small possible consideration kinematics robot, makes use systems learn behaviors unknown dynamics actuators. approximation errors external...

A recurrent neural network is proposed for solving the non-smooth convex optimization problem with inequality and linear equality constraints. Since objective function constraints may not be smooth, Clarke's generalized gradients of are employed to describe dynamics network. It proved that equilibrium point set equivalent optimal solution original by using Lagrangian saddle-point theorem. Under weak conditions, stable, state convergent one its points. Compared existing models problems, can...

The stochastic consensus problem of linear multi-input multi-output (MIMO) multi-agent systems (MASs) with communication noises and Markovian switching topologies is studied in this technical note. agent's full state first estimated by the observer, then exchanged neighbor agents through a noisy environment. topology randomly law described continuous-time chain. Then protocol proposed for MAS, some sufficient conditions are obtained ensuring mean square almost sure consensus. In addition, if...

This paper studies the containment control of multiagent systems (MASs) with multiple dynamic leaders in both continuous-time domain and discrete-time domain. The leaders' motions are described by n th-order polynomial trajectories. setting makes practical sense because given some critical points, trajectories usually planned interpolations. In order to drive all followers into convex hull spanned leaders, a PI -type algorithm is proposed ( P I short for proportional integral, respectively;...

This article presents a control scheme for robot manipulators with the consideration of output error constraints, unknown dynamics, and bounded disturbances. A modified virtual input variable in second stage design dynamic surface is proposed, which can enhance robustness controller. Bounded disturbances due to situations that base not well fixed if manipulator mounted at mobile platform are considered suppressed. Besides, detailed implementation process composite learning laws adopted...

In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. scheme, the trajectory generated by using geometry vector method with Kinect sensor. To comply external torque from environment, paper presents admittance approach joint space an observer approach, which used to estimate torques applied operator. deal tracking problem of uncertain manipulator, adaptive controller...

This note further studies the previously proposed consensus protocol for linear multi-agent systems with communication noises. Each agent is allowed to have its own time-varying gain attenuate effect of Therefore, common assumption that all agents same noise-attenuation not necessary. It has been proved if gains are infinitesimal order, then mean square leader-following can be reached. Furthermore, convergence rate system investigated. If belong a class functions which bounded above and...

Piezoelectric actuators (PEAs) are widely used in the nanopositioning applications due to their high stiffness, fast response, and ultrahigh precision. However, PEAs inherently have hysteresis nonlinearity which can dramatically degrade tracking performance. This paper proposes an adaptive Takagi-Sugeno (T-S) fuzzy model-based predictive controller with a parallel distributed control structure. Compared previous results, proposed does not require inverse model of PEAs, is easy be calculated...

Piezoelectric actuators (PEAs) are widely used in high-precision positioning applications. However, the inherent hysteresis nonlinearity seriously deteriorates tracking performance of PEAs. To deal with it, compensation by using its inverse model (called inversion-based) is popular method literature. One major disadvantage this that PEAs highly relies on model. Meanwhile, computational burden obtaining overwhelming. In addition, physical constraints input voltage hardly handled...

Piezoelectric-actuated stick-slip device (PASSD) is a highly promising equipment that composed of one end-effector, piezoelectric actuator (PEA) and driving object adhered to the PEA. Since end-effector can slip on surface object, PASSD capable realizing macrolevel motion with microlevel precision. Due following two reasons: complicated relative between inherent hysteresis nonlinearity in PEA, ultraprecision displacement control PASSDs raises real challenge, which rarely reported literature....