DocumentCode
234339
Title
Robust consensus control for multiple robotic manipulators
Author
Zhao Ge ; Zhao Dongya
Author_Institution
Coll. of Chem. Eng., China Univ. of Pet., Qingdao, China
fYear
2014
fDate
28-30 July 2014
Firstpage
2229
Lastpage
2233
Abstract
To deal with the uncertainty and leader-follower synchronization of multiple robotic manipulators system (MRMS), a distributed robust consensus controller is proposed based on undirected graph theory, which describes the information change among the MRMS. The corresponding stability of the proposed controller is proven by the Lyapunov method. Simulations conducted on a MRMS indicate the capabilities of the algorithms.
Keywords
Lyapunov methods; distributed control; graph theory; manipulators; multi-robot systems; robust control; synchronisation; uncertain systems; Lyapunov method; MRMS; distributed robust consensus controller; leader-follower synchronization; multiple robotic manipulators system; stability; uncertainty handling; undirected graph theory; Lead; Manipulator dynamics; Robot kinematics; Robustness; Synchronization; Consensus; leader-follower; multiple robotic manipulators; robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6896978
Filename
6896978
Link To Document