A Survey on Model-Based Distributed Control and Filtering for Industrial Cyber-Physical Systems <s> A. Distributed Cooperative Control of Manipulators <s> This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can belong to a class of underactuated EL-systems. The network is modeled as a weighted and undirected static interconnection graph that can exhibit asymmetric variable time delays. Simulations, using a network with ten EL-systems, are reported to support the theoretical contributions of this study. <s> BIB001 </s> A Survey on Model-Based Distributed Control and Filtering for Industrial Cyber-Physical Systems <s> A. Distributed Cooperative Control of Manipulators <s> This paper addresses distributed coordination and cooperation control for networked mobile manipulators over a jointly connected topology with time delays. First, tracking control is proposed to guarantee the position and velocity synchronization of the networked mobile manipulators, while keeping a formation. For cooperation control, the decoupled dynamics is considered so that the task and null space of the mobile manipulators can be designed to achieve different missions. For end-effector motion, synchronization control works in combination with force controls to ensure that the network of mobile manipulators achieves cooperative manipulation and transportation. The motion of the mobile bases is controlled in the null space, which can be designed to track a trajectory, avoid colliding with obstacles, and achieve velocity consensus without influencing the main task. Numerical examples are addressed to demonstrate the performance of the proposed networked robotic system. <s> BIB002 </s> A Survey on Model-Based Distributed Control and Filtering for Industrial Cyber-Physical Systems <s> A. Distributed Cooperative Control of Manipulators <s> Tracking control of robot manipulators is a fundamental and significant problem in robotic industry. As a conventional solution, the Jacobian-matrix-pseudo-inverse (JMPI) method suffers from two major limitations: one is the requirement on known information of the robot model such as parameter and structure; the other is the position error accumulation phenomenon caused by the open-loop nature. To overcome such two limitations, this paper proposes a novel Jacobian-matrix-adaption (JMA) method for the tracking control of robot manipulators via the zeroing dynamics. Unlike existing works requiring the information of the known robot model, the proposed JMA method uses only the input-output information to control the robot with unknown model. The solution based on the JMA method transforms the internal, implicit, and unmeasurable model information to the external, explicit, and measurable input-output information. Moreover, simulation studies including comparisons and tests substantiate the efficacy and superiority of the proposed JMA method for the tracking control of robot manipulators subject to unknown models. <s> BIB003 </s> A Survey on Model-Based Distributed Control and Filtering for Industrial Cyber-Physical Systems <s> A. Distributed Cooperative Control of Manipulators <s> Although various methods of controlling mobile robots have been studied, the distributed tracking control problem for uncertain nonholonomic mobile multirobot (NMMR) systems in an optimal manner with disturbance rejection for both kinematics and dynamics has not been thoroughly solved. This paper, therefore, devotes a novel method to solve the problem with application to real NMMR systems equipped with omnidirectional vision sensors, of which parameters are unknown or uncalibrated. First, the distributed optimal tracking control problem of a separate system in the presence of kinematic and dynamic disturbances is transformed into the equivalent optimal regulation with disturbance rejection of an integrated system. Then, the theory of differential games is utilized to formulate the integrated system into coupled Hamilton–Jacobi–Isaac equations, of which the solutions are approximated in real time by designed algorithms. By the Lyapunov theory, it is proven that the algorithms converge, and the closed-loop systems are stable. Finally, compared simulations and experiments for a group of three robots are provided to show the effectiveness of the proposed algorithms. <s> BIB004
Benefiting from higher degrees of freedom, the cooperation control of mobile manipulator systems is considered as an important technique to enhance efficiency and flexibility of industrial automation systems BIB002 . The kinematics and dynamics of manipulators can be modeled by an Euler-Lagrange (EL) equation BIB001 providing an ideal foundation of performance analysis and synthesis. Therefore, it becomes one of the emerging research topics in industrial CPSs, and some preliminary results can be found in the literature, see BIB003 - BIB004 to name a few. For instance, in BIB004 , the distributed optimal tracking control with omnidirectional vision sensors is transformed into an optimal regulation issue of an integrated system, and an algorithm is developed accordingly to approximate the solution of corresponding Hamilton-Jacobi-Isaac equations.