Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees

Mahyuddin, Muhammad Nasiruddin and Herrmann, Guido and Lewis, Frank L. (2013) Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees. In: 52nd IEEE Conference on Decision & Control, 10 – 13 Disember 2013, Florence, Itali. (Submitted)

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    Abstract

    A robust distributed adaptive leader-following control for multi-degree-of-freedom (multi-DOF) robot manipulator-type agents is proposed to guarantee finite-time convergence for leader-following tracking and parameter estimation via agent-based estimation and control algorithms. The dynamics of each manipulator agent system of n degrees including the leader agent are assumed unknown. For a specific leader-following network Laplacian, the agents’ position, velocity and some switched control information can be fed back to the communication network. In contrast to the current multi-agent literature for robotic manipulators, the proposed approach does not require a priori information of the leader’s joint velocity and acceleration to be available to all agents due to the use of agent-based robust adaptive control elements. Due to the multi-DOF character of each agent, matrix theoretical results related to M-matrix theory used for multi-agent systems needs to be extended to the multi-degree context in contrast to recent scalar double integrator results. A simulation example of two-degree of freedom manipulators exemplifies the effectiveness of the approach.

    Item Type: Conference or Workshop Item (Paper)
    Subjects: T Technology > TK Electrical Engineering. Electronics. Nuclear Engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering
    Divisions: Kampus Kejuruteraan (Engineering Campus) > Pusat Pengajian Kejuruteraaan Elektrik & Elektronik (School of Electrical & Electronic Engineering)
    Depositing User: Administrator Automasi
    Date Deposited: 06 Sep 2016 16:12
    Last Modified: 06 Sep 2016 16:12
    URI: http://eprints.usm.my/id/eprint/30477

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