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,et al. Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties[C],2008.
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