Show simple item record

dc.contributor.authorNuño, Emmanuel
dc.contributor.authorAldana, Carlos I.
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2017-09-27T05:39:50Z
dc.date.available2018-06-01T00:30:34Z
dc.date.issued2017-06-01
dc.identifier.citationNuño, E., Aldana, C., Basañez, L. Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays. "International journal of adaptive control and signal processing", 1 Juny 2017, vol. 31, núm. 6, p. 917-937.
dc.identifier.issn0890-6327
dc.identifier.urihttp://hdl.handle.net/2117/108047
dc.description.abstractThis work deals with the leader-follower and the leaderless consensus problems in networks of multiple robot manipulators. The robots are non-identical, kinematically different (heterogeneous), and their physical parameters are uncertain. The main contribution of this work is a novel controller that solves the two consensus problems, in the task space, with the following features: it estimates the kinematic and the dynamic physical parameters; it is robust to interconnecting variable-time delays; it employs the singularity-free unit-quaternions to represent the orientation; and, using energy-like functions, the controller synthesis follows a constructive procedure. Simulations using a network with four heterogeneous manipulators illustrate the performance of the proposed controller.
dc.format.extent21 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshMobile robots--Automatic control
dc.subject.otheradaptive control
dc.subject.othermodel reference adaptive control
dc.subject.othertime-delays
dc.subject.othermulti-agent systems
dc.titleTask space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
dc.typeArticle
dc.subject.lemacRobots mòbils -- Control automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1002/acs.2738
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttp://onlinelibrary.wiley.com/doi/10.1002/acs.2738/abstract;jsessionid=BD377EF9C72DB5991BD4E913E1870021.f04t03?systemMessage=Wiley+Online+Library+%27Journal+Subscribe+%2F+Renew%27+page+will+be+down+on+Wednesday+05th+July+starting+at+08.00+EDT+%2F+13.00+BST+%2F+17.30+IST+for+up+to+75+minutes+due+to+essential+maintenance.
dc.rights.accessOpen Access
local.identifier.drac21141022
dc.description.versionPostprint (author's final draft)
local.citation.authorNuño, E.; Aldana, C.; Basañez, L.
local.citation.publicationNameInternational journal of adaptive control and signal processing
local.citation.volume31
local.citation.number6
local.citation.startingPage917
local.citation.endingPage937


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record