CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics
Long Cheng; Zeng-Guang Hou; Min Tan
2008
Conference Name34th Annual Conference of the IEEE-Industrial-Electronics-Society
Conference DateNOV 10-13, 2008
Conference PlaceOrlando
CountryUSA
AbstractAn 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.
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/23155
Collection复杂系统管理与控制国家重点实验室_先进机器人
Recommended Citation
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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