Knowledge Commons of Institute of Automation,CAS
Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties | |
Long Cheng; Zeng-Guang Hou; Min Tan; Derong Liu; Anmin Zou | |
2008 | |
会议名称 | IEEE International Symposium on Intelligent Control |
会议日期 | SEP 03-05, 2008 |
会议地点 | San Antonio |
会议举办国 | USA |
摘要 | An adaptive control approach is proposed to deal with the multiple manipulators consensus problem based on the multi-agent theory. In the current multi-agent literature, agents were assumed to have determined models. However, the practical manipulator's kinematics contains uncertain parameters. By using the projection method, the adaptive updating law for uncertain kinematic parameters is derived. Then, the estimated manipulator Jacobian matrix can be obtained to design the decentralized controller. By the proposed controller, all the manipulators' end-effectors 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 PUMA 560 robots system. |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/23158 |
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,et al. Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties[C],2008. |
条目包含的文件 | 条目无相关文件。 |
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