A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems

A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems

Considering the characteristics of equipment on underground fully mechanized coal mining face, a multirobot system, which takes heavy-duty mobile support robot (HMSR) as the pushing robot and middle trough (MT) as the manipulated object, is established. To overcome the problem of unstable communicat...

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Main Authors: Lin Zhang, Xianhua Zheng, Shang Feng, Lingling Su
Format: Article
Language:English
Published: Hindawi-Wiley 2020-01-01
Series:Complexity
Online Access:http://dx.doi.org/10.1155/2020/7256427
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spelling doaj-d0680c27e76a4885a4f82bdca9023aa62020-11-25T03:18:58ZengHindawi-WileyComplexity1076-27871099-05262020-01-01202010.1155/2020/72564277256427A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot SystemsLin Zhang0Xianhua Zheng1Shang Feng2Lingling Su3School of Mechanical and Electrical Engineering, Yangtze Normal University, Chongqing 408100, ChinaSchool of Mechanical and Electrical Engineering, Yangtze Normal University, Chongqing 408100, ChinaSchool of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, ChinaCollege of Science, North China University of Technology, Beijing 100144, ChinaConsidering the characteristics of equipment on underground fully mechanized coal mining face, a multirobot system, which takes heavy-duty mobile support robot (HMSR) as the pushing robot and middle trough (MT) as the manipulated object, is established. To overcome the problem of unstable communication and potential pressure loss, a memory-pushing fuzzy control strategy is proposed to achieve better practical performance without human-guided operations. The pushing dynamics without communication is derived to proof the convergence of the dynamic system, and the time-based memory-pushing fuzzy model is built for compensating the potential pressure loss. Finally, the proposed control strategy is simulated in virtual environment, which integrates our pushing dynamics, and an industrial experiment is demonstrated as well. Both the simulation and industrial experiments show the efficiency and feasibility of the proposed method.http://dx.doi.org/10.1155/2020/7256427
collection DOAJ
language English
format Article
sources DOAJ
author Lin Zhang
Xianhua Zheng
Shang Feng
Lingling Su
spellingShingle Lin Zhang
Xianhua Zheng
Shang Feng
Lingling Su
A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
Complexity
author_facet Lin Zhang
Xianhua Zheng
Shang Feng
Lingling Su
author_sort Lin Zhang
title A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
title_short A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
title_full A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
title_fullStr A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
title_full_unstemmed A Noncommunicative Memory-Pushing Fuzzy Control Strategy for Sensorless Multirobot Systems
title_sort noncommunicative memory-pushing fuzzy control strategy for sensorless multirobot systems
publisher Hindawi-Wiley
series Complexity
issn 1076-2787
1099-0526
publishDate 2020-01-01
description Considering the characteristics of equipment on underground fully mechanized coal mining face, a multirobot system, which takes heavy-duty mobile support robot (HMSR) as the pushing robot and middle trough (MT) as the manipulated object, is established. To overcome the problem of unstable communication and potential pressure loss, a memory-pushing fuzzy control strategy is proposed to achieve better practical performance without human-guided operations. The pushing dynamics without communication is derived to proof the convergence of the dynamic system, and the time-based memory-pushing fuzzy model is built for compensating the potential pressure loss. Finally, the proposed control strategy is simulated in virtual environment, which integrates our pushing dynamics, and an industrial experiment is demonstrated as well. Both the simulation and industrial experiments show the efficiency and feasibility of the proposed method.
url http://dx.doi.org/10.1155/2020/7256427
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