Multiple manipulator cooperative control using Disturbance Estimator and consensus algorithm

In this paper the Disturbance Estimator(DE) and the consensus algorithm are applied for the purpose of multiple manipulator cooperative control. The works in this paper are separated into the following two parts. As the first part, individual manipulator control is addressed. By means of the DE, unknown external disturbance is estimated without any force sensors. Moreover, output disturbance and the model difference between an actual plant and a desired plant are also estimated. As a result, total disturbance compensation and dynamics shaping are achieved by DE feedback control. As the second part, multiple manipulator stabilization is addressed. By means of 2nd order consensus algorithm, multiple links are considered to have a spring damper characteristics. Thus, even though different disturbances are applied to the links, stabilized manipulation is achieved. Simulation and experimental test using multiple links validate proposed cooperative manipulator control methods.