DocumentCode :
2990018
Title :
Multi-Agent Based Adaptive Consensus Control for Multiple Manipulators with Kinematic Uncertainties
Author :
Cheng, Long ; Hou, Zeng-Guang ; Tan, Min ; Liu, Derong ; Zou, An-Min
Author_Institution :
Key Lab. of Complex Syst. & Intell. Sci., Chinese Acad. of Sci., Beijing
fYear :
2008
fDate :
3-5 Sept. 2008
Firstpage :
189
Lastpage :
194
Abstract :
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.
Keywords :
Jacobian matrices; Lyapunov methods; adaptive control; decentralised control; manipulator kinematics; multi-agent systems; Jacobian matrix; Lyapunov method; adaptive consensus control; decentralized controller; kinematic uncertainties; multiagent systems; multiple manipulators; Adaptive control; Control system analysis; Control systems; Jacobian matrices; Kinematics; Lyapunov method; Manipulators; Performance analysis; Programmable control; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control, 2008. ISIC 2008. IEEE International Symposium on
Conference_Location :
San Antonio, TX
ISSN :
2158-9860
Print_ISBN :
978-1-4244-2224-1
Electronic_ISBN :
2158-9860
Type :
conf
DOI :
10.1109/ISIC.2008.4635941
Filename :
4635941
Link To Document :
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