Task-Space Consensus of Networked Robotic Systems: Separation and Manipulability
Beijing Institute of Control Engineering（北京控制工程研究所）；Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering（空间智能控制重点实验室，北京控制工程研究所）
Hanlei Wang, Yongchun Xie
备注：
This version is mainly for incorporating revisions to the technical contents concerning the manipulability analysis and improving the presentation, and the reviewers', AE's, and Editor's comments are also taken into account
In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics and address two main issues, i.e., the separation of the kinematic and dynamic loops in the case of no task-space velocity measurement and the quantification of the manipulability of the system. We propose an observer-based adaptive controller to achieve the manipulable consensus without relying on the measurement of task-space velocities, and also formalize the concept of manipulability to quantify the degree of adjustability of the consensus value. The proposed adaptive controller employs a new distributed observer that does not rely on the joint velocity and a new kinematic parameter adaptation law with a distributed adaptive kinematic regressor matrix that is driven by both the observation and consensus errors. In addition, it is shown that the proposed controller has the separation property, which yields an adaptive kinematic controller that is applicable to most industrial/commercial robots. The performance of the proposed observer-based adaptive schemes is shown by numerical simulations.
Conditions for detectability in distributed consensus-based observer networks
School of Engineering and IT, University of NSW at the Australian Defence Force Academy（新南威尔士大学澳大利亚国防军学院工程与信息技术学院）；Australian National University（澳大利亚国立大学）
Graph Neural Network-Based Distributed Optimal Control for Linear Networked Systems: An Online Distributed Training Approach
Department of Electrical Engineering, University of Notre Dame（电气工程系，诺丁汉大学）；Department of Electrical and Computer Engineering, Stevens Institute of Technology（电气与计算机工程系，史蒂文斯理工学院）
