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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.
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.
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.
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