Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties

被引：28

作者：

Cheng, Long ^{[1
]}

Hou, Zeng-Guang ^{[1
]}

Tan, Min ^{[1
]}

Liu, Derong ^{[2
]}

Zou, An-Min ^{[3
]}

机构：

[1] Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100864, Peoples R China

[2] Univ Illinois, Dept Elect & Comp Engn, Chicago, IL 60680 USA

[3] Univ Saskatchewan, Dept Mech Engn, Saskatoon, SK S7N 0W0, Canada

来源：

PROCEEDINGS OF THE 2008 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL | 2008年

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1109/ISIC.2008.4635941

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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.

引用

页码：189 / 191

页数：3

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