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Multi-target tracking of networked heterogeneous collaborative robots in task space

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Abstract

This paper investigates the multi-target tracking problem of networked heterogeneous collaborative robots with parametric uncertainties and external disturbances in the task space, where each robot can be kinematic redundant or non-redundant. The acceleration of the targets can either belong to \({\mathcal {L}}_2\) or \({\mathcal {L}}_{\infty }\) space. A uniform distributed controller–estimator algorithm is designed to solve the aforementioned problem. The sufficient conditions for both zero-error stability and Lagrange stability of the closed-loop system are derived. Finally, simulation examples are illustrated to demonstrate the effectiveness of the main results.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grants 61703374, 61703377 and 61673303, the Teaching Laboratory Open Fund Project, China University of Geosciences (Wuhan), and the Fundamental Research Funds for the Central Universities, China University of Geosciences (Wuhan) under Grants CUG170656 and CUG170632.

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Authors and Affiliations

  1. School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan, 430074, China

    Chang-Duo Liang, Xiang-Yu Yao & Ming-Feng Ge

  2. School of Automation, China University of Geosciences, Wuhan, 430074, China

    Leimin Wang

  3. School of Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

    Zhi-Wei Liu

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  1. Chang-Duo Liang
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  2. Leimin Wang
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Correspondence to Ming-Feng Ge.

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Liang, CD., Wang, L., Yao, XY. et al. Multi-target tracking of networked heterogeneous collaborative robots in task space. Nonlinear Dyn 97, 1159–1173 (2019). https://doi.org/10.1007/s11071-019-05038-x

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