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State-constrained bipartite tracking of interconnected robotic systems via hierarchical prescribed-performance control

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Abstract

This paper investigates the collaborative design problem aiming to achieve state-constrained bipartite tracking of the interconnected robotic systems (IRSs) with prescribed performance. In practical applications, the physical limitations of the robots are inevitable. Besides, it is difficult to ensure that the target trajectory is known for each robot of the IRSs in advance. Thus, it is important to follow the target trajectory and meanwhile obey the state constraint being generated from the physical limitations and the external environment of the IRSs. To this end, we propose a new hierarchical state-constrained estimator-based control framework with the characteristics of low computation complexity and high task adaptability. With limited accessibility of the target trajectory, we newly present the estimator to observe it at each time interval through the interconnections among the robots. The state constraint is never violated throughout the convergence process by using the presented control algorithm. The theoretical proof and simulation results are presented to validate the feasibility of the control framework.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grants 62073301 and 52027806, in part by the National Key Technology R &D Program of China under Grant 2020YFB1709301 and Grant 2020YFB1709304, in part by the Natural Science Foundation of Hubei Province of China under Grant 2021CFB516, in part by the Innovative Development Project for Supporting Enterprise Technology of Hubei Province of China under Grant 2021BAB094, as well as in part by the Teaching Laboratory Open Fund Project, China University of Geosciences (Wuhan).

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Authors and Affiliations

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

    Ming-Feng Ge, Zhi-Wei Gu, Peng Su & Chang-Duo Liang

  2. School of Chemistry and Chemical Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Xiang Lu

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  1. Ming-Feng Ge
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Ge, MF., Gu, ZW., Su, P. et al. State-constrained bipartite tracking of interconnected robotic systems via hierarchical prescribed-performance control. Nonlinear Dyn 111, 9275–9288 (2023). https://doi.org/10.1007/s11071-023-08324-x

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