Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics
Long Cheng; Zeng-Guang Hou; Min Tan
2008
会议名称34th Annual Conference of the IEEE-Industrial-Electronics-Society
会议日期NOV 10-13, 2008
会议地点Orlando
会议举办国USA
摘要An adaptive control approach is proposed to deal with the multi-manipulator leader-follower control based on the multi-agent theory. In the current multi-agent literature, agents are assumed to have determined linear models. However, the real manipulator's dynamics is highly nonlinear and contains uncertain parameters. According to the "linearity-in-parameters" property, the adaptive updating law for uncertain dynamics parameters is derived. Then, the decentralized torque controller for each follower manipulator is designed using the backstepping scheme, which only utilizes the information of its neighbor (connected) manipulators. By the proposed controller, all the follower manipulators' joints can track the leader joint's trajectory to achieve certain coordination tasks. In addition, the performance of control system is analyzed by the Lyapunov method, and the tracking error is proved to approach zero. Finally, the effectiveness of the proposed scheme is illustrated by simulations on a multiple two-link manipulators system.
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/23155
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Long Cheng,Zeng-Guang Hou,Min Tan. Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics[C],2008.
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