Passivity-Based Cooperative Dynamic Control for Human-Rigid Body Networks
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- Murao Toshiyuki
- College of Engineering, Kanazawa Institute of Technology
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- Koshio Yusuke
- Graduate Program in Mechanical Engineering, Kanazawa Institute of Technology
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- Kawai Hiroyuki
- College of Engineering, Kanazawa Institute of Technology
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- Yamauchi Junya
- Graduate School of Information Science and Technology, The University of Tokyo
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- Hatanaka Takeshi
- School of Engineering, Tokyo Institute of Technology
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- Fujita Masayuki
- Graduate School of Information Science and Technology, The University of Tokyo
Bibliographic Information
- Other Title
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- 受動性に基づく人間-剛体ネットワークの動的協調制御
- ジュドウセイ ニ モトズク ニンゲン-ゴウタイ ネットワーク ノ ドウテキ キョウチョウ セイギョ
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Abstract
<p>This paper presents passivity-based cooperative dynamic control for human-rigid body networks. In the human-rigid body network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. First, we derive robot dynamics of an omni-directional mobile robot through the Newton-Euler equation. Second, we design a control input to the robots with dynamics and show the passivity property of the robot system. Next, we discuss convergence analysis of the closed-loop system through the Lyapunov stability theorem and the LaSalle's invariance principle. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-rigid body network. Finally, we provide simulation results and experimental results using four ground vehicles and a tablet PC to illustrate the performance of the proposed control method.</p>
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 141 (11), 1165-1174, 2021-11-01
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390852870558376064
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- NII Article ID
- 130008110187
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 031821328
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed