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Related Experiment Video

Updated: Jul 7, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

Semi-decentralized adaptive fuzzy control for cooperative multirobot systems with H(infinity) motion/internal force

Kuang-Yow Lian¹, Chian-Song Chiu, P Liu

¹Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung-li.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 2, 2008

Summary

This study introduces a semi-decentralized adaptive fuzzy control scheme for cooperative multirobot systems, enhancing motion and internal force tracking performance with H(infinity) robustness against uncertainties and disturbances.

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Cooperative multirobot systems require robust control for precise motion and internal force tracking.
Handling parametric and nonparametric uncertainties is crucial for reliable system performance.
Existing control methods may struggle with complex dynamics and external disturbances.

Purpose of the Study:

To develop a semi-decentralized adaptive fuzzy control scheme for cooperative multirobot systems.
To achieve H(infinity) performance in both motion and internal force tracking.
To ensure robustness against system uncertainties and external disturbances.

Main Methods:

Reformulating system dynamics into a fully actuated system with constraints.
Implementing a two-part controller: model-based adaptive and adaptive fuzzy logic controller (FLC).
Solving an H(infinity) tracking problem with a novel performance criterion.

Main Results:

A simple, singularity-free, robust controller satisfying disturbance attenuation was derived.
Asymptotic convergence was achieved under bounded fuzzy approximation error.
Numerical simulations demonstrated the controller's effectiveness in cooperative planar robots transporting an object.

Conclusions:

The proposed semi-decentralized adaptive fuzzy control scheme effectively enhances cooperative multirobot system performance.
The controller offers robustness against uncertainties and disturbances while ensuring precise tracking.
The simplified controller design facilitates easier implementation in practical applications.