IDEAS home Printed from https://ideas.repec.org/a/hin/complx/8357428.html
   My bibliography  Save this article

Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms

Author

Listed:
  • Ming-Feng Ge
  • Chang-Duo Liang
  • Xi-Sheng Zhan
  • Chao-Yang Chen
  • Guanghui Xu
  • Jie Chen

Abstract

This paper investigates both the time-varying formation and multiple time-varying formation tracking problems of networked heterogeneous robotic systems (NHRSs) with parameter uncertainties and external disturbances in the task space. Each robot inside can be either redundant or nonredundant. Several novel estimator-based hierarchical cooperative (EBHC) algorithms are designed to achieve both the tracking task and the possible preset subtasks for redundant robots. Besides, the designed estimator algorithms guarantee that each robot can obtain the accurate information of their corresponding leaders. By employing Lyapunov stability and input-to-state stability, sufficient conditions on the asymptotic stability of the error closed-loop system are derived. Finally, two simulation examples are presented to verify the effectiveness of the proposed algorithms.

Suggested Citation

  • Ming-Feng Ge & Chang-Duo Liang & Xi-Sheng Zhan & Chao-Yang Chen & Guanghui Xu & Jie Chen, 2020. "Multiple Time-Varying Formation of Networked Heterogeneous Robotic Systems via Estimator-Based Hierarchical Cooperative Algorithms," Complexity, Hindawi, vol. 2020, pages 1-18, February.
    • Handle: RePEc:hin:complx:8357428
    DOI: 10.1155/2020/8357428
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/8503/2020/8357428.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/8503/2020/8357428.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2020/8357428?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Jingchen Wang & Qihe Shan & Jun Zhu & Xiaofeng Cheng & Baoze Wei, 2023. "Algebraic-Connectivity-Based Multi-USV Distributed Formation Method via Adding a Reverse Edge," Mathematics, MDPI, vol. 11(13), pages 1-22, June.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:complx:8357428. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.