Knowledge Commons of Institute of Automation,CAS
Decentralized adaptive consensus control for multi-manipulator system with uncertain dynamics | |
Long Cheng; Zeng-Guang Hou; Min Tan | |
2008 | |
会议名称 | IEEE International Conference on System, Man, and Cybernetic |
会议日期 | OCT 12-15, 2008 |
会议地点 | Singapore |
会议举办国 | Singapore |
摘要 | An adaptive control approach is proposed to deal with the multi-manipulator system consensus problem based on the multi-agent theory. In the current multi-agent literature, agents are assumed to have determined models. However, the real manipulator's dynamics contains uncertain parameters. According to the "linearity-in-parameters" property, the adaptive updating law for uncertain dynamics parameters is derived by the projection method. Then, a decentralized controller is designed based on the backstepping scheme, which only utilizes the information of connected manipulators. By the proposed controller, all the manipulators' joints move towards the same configuration to achieve certain coordination tasks. In addition, performance of the control system is analyzed by the Lyapunov method, and the consensus 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/173211/23156 |
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 consensus control for multi-manipulator system with uncertain dynamics[C],2008. |
条目包含的文件 | 条目无相关文件。 |
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