Distributed adaptive containment control of networked flexible-joint robots using neural networks

作者：

Highlights：

• This research is the first trial for networked Lagrangian systems with flexible joints.

• Simple local controllers are designed regardless of the order of followers and the complexity of communication links.

• Derivative terms of multiple dynamic leaders are not required to implement the controllers.

摘要

•This research is the first trial for networked Lagrangian systems with flexible joints.•Simple local controllers are designed regardless of the order of followers and the complexity of communication links.•Derivative terms of multiple dynamic leaders are not required to implement the controllers.

论文关键词：Containment control,Networked flexible-joint (FJ) robots,Function approximation technique,Directed graph

论文评审过程：Available online 6 August 2013.

论文官网地址：https://doi.org/10.1016/j.eswa.2013.07.072