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
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;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896978
