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Fully distributed event-triggered control for multi-robot systems based on modal space framework

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Abstract

In tasks that require improved mechanical strength and load-bearing capacity, such as the handling of heavy or large-volume objects, multi-robot collaborative control is of utmost importance. In this paper, a novel control framework is introduced for multi-robot cooperation, aiming to address the challenges presented by dynamic coupling, anisotropy, the lack of velocity information, and the significant network transmission load within large-scale robot cooperation systems. This framework draws upon insights from both vibration theory and control theory. Firstly, a novel decoupling modal space is presented for multi-robots to complete a collaborative task, which means each control channel is not affected by the coupling of other control channels. Then, a distributed filter is designed for systems to avoid the use of velocity measurement information, which ensures that the output feedback control of multiple robots is realized and makes the estimation error converge to zero uniformly, exponentially and globally. Moreover, distributed adaptive event-triggered protocols are developed that are independent of network scale and do not rely on global information. In this study, the controller and communication do not need to be continuously updated. Finally, experimental demonstrations are provided to show the effectiveness of the proposed control algorithms.

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Data availability statement

All data included in this study are available upon request from the corresponding author.

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Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62373319, 61933009, 62073276; and in part by the Natural Science Foundation of Hebei Province under Grant F2022203036, F2021203109, F2022203025; in part by the Provincial Key Laboratory Performance Subsidy Project 22567612H.

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Authors and Affiliations

  1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao City, 066004, China

    Xiangduan Zeng, Yana Yang & Junpeng Li

  2. Institute of Mechanical Engineering, Yanshan University, Qinhuangdao City, 066004, China

    Jinsong Zhao

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  1. Xiangduan Zeng
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  2. Yana Yang
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  3. Jinsong Zhao
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  4. Junpeng Li
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by XZ, YY, JZ and JL. The first draft of the manuscript was written by XZ, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Yana Yang.

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Zeng, X., Yang, Y., Zhao, J. et al. Fully distributed event-triggered control for multi-robot systems based on modal space framework. Nonlinear Dyn 112, 3605–3618 (2024). https://doi.org/10.1007/s11071-023-09199-8

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  • DOI: https://doi.org/10.1007/s11071-023-09199-8

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