Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties
文献类型：会议论文
| 作者 | Long Cheng ; Zeng-Guang Hou; Min Tan; Derong Liu; Anmin Zou
|
| 出版日期 | 2008 |
| 会议日期 | SEP 03-05, 2008 |
| 会议地点 | San Antonio |
| 国家 | USA |
| 英文摘要 | 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. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/23158]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 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]. 见:. San Antonio. SEP 03-05, 2008. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。