Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics

	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	复杂系统认知与决策实验室_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.