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Task-space bipartite tracking of networked robotic systems via hierarchical finite-time control

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Abstract

This paper investigates the finite-time bipartite tracking problem of networked robotic systems (NRSs) with external disturbances in the task space. Based on the sliding mode control theory, a novel hierarchical finite-time control algorithm (HFTCA) is designed to force two antagonistic subgroups of the NRS to reach two arbitrarily small neighborhoods of the leader state with opposite signs in a finite time. The presented HFTCA is composed of the local control layer, which aims to drive the system state to track the estimated state, and the distributed estimator layer, whose objective is to estimate the above-mentioned neighborhoods using other local interactions. By employing the Lyapunov stability theory, we derive some sufficient conditions for guaranteeing the practical convergence of the regulated bipartite tracking errors. Finally, simulation results are presented to demonstrate the effectiveness of the proposed algorithm.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under Grants (61703374, 61973110 and 61503282), the Foundation of Hunan University of Science and Technology under Grant KJ1910, the Natural Science Foundation of Hubei Province of China under Grant 2019CFB559, and the Fundamental Research Funds for the Central Universities, China University of Geosciences (Wuhan) under Grant CUG170656.

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Authors and Affiliations

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

    Yi-De Wu, Ming-Feng Ge & Teng-Fei Ding

  2. School of Automation, Central South University, Changsha, 410083, China

    Ming-Feng Ge

  3. School of Information and Electrical Engineering, Hunan University of Science and Technology, Xiangtan, 411201, China

    Chao-Yang Chen

  4. School of Science, Wuhan University of Technology, Wuhan, 430070, China

    Guang Ling

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  1. Yi-De Wu
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Correspondence to Ming-Feng Ge.

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Wu, YD., Ge, MF., Ding, TF. et al. Task-space bipartite tracking of networked robotic systems via hierarchical finite-time control. Nonlinear Dyn 100, 3469–3483 (2020). https://doi.org/10.1007/s11071-020-05675-7

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