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)
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.
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