Intelligent Containment Control With Double Constraints for Cloud-Based Collaborative Manufacturing

Xiaokang Zhou, Hailiang Hou, Wei Liang, Kevin I.Kai Wang, Qun Jin

Research output: Contribution to journalArticlepeer-review


Modern manufacturing process is commonly composed of multiple automated devices working together efficiently. Cloud-based manufacturing aims to achieve better efficiency by allowing the collaborative manufacturing across a group of automated robots. Cooperations between multiple robots can accomplish more complicated tasks that is beyond the capability of any individual one. However, it is of critical importance to control robots with different capabilities to work in harmony while ensuring safety and reliability during this process. In this paper, a double constrained containment mechanism is proposed to dispatch heterogeneous robots in a cloud-based distributed containment control framework for smart manufacturing. Following a three-layer control framework, a cloud decision-making center is designed to realize the cloud-based collaborative manufacturing, which is more cost-effective than other commonly used containment mechanisms that only rely on information exchange among leader-robots. A projection-based containment control scheme is developed, which not only consider the nonlinearities induced by position constraints and velocity constraints, but also can deal with the dynamically changing communication topologies with uncertain communication delay, so as to efficiently navigate all follower-robots into a safe working zone formed by leaders. A theoretical stability analysis is then conducted to prove the proposed mechanism can ensure all followers enter the target area while their positions and velocities remaining in the corresponding constraint sets. Experiment evaluation results under three different application scenarios demonstrate the advantage of our method that can offer a more practical solution to other existing multi-robot containment control for cloud-based smart manufacturing, in considering both the position and velocity constraints combined with switching topologies and communication delays.

Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalIEEE Transactions on Industrial Informatics
Publication statusAccepted/In press - 2022


  • Cloud manufacturing
  • Decision making
  • Delays
  • Process control
  • Robot sensing systems
  • Service robots
  • Smart manufacturing
  • Topology
  • constraint satisfaction
  • containment control
  • distributed intelligence
  • intelligent control
  • robot systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering


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