Decentralized adaptive leader-follower control of multi-manipulator system with uncertain dynamics

IECON Proceedings (Industrial Electronics Conference)

Volumn , Issue , 2008, Pages 1608-1613

  Cheng, Long ^a   Hou, Zeng Guang ^a   Tan, Min ^a  

^a INSTITUTE OF AUTOMATION   (China)

Author keywords

[No Author keywords available]

Indexed keywords

AGENTS; DYNAMICS; INDUSTRIAL ELECTRONICS; LYAPUNOV METHODS; MANIPULATORS; MULTI AGENT SYSTEMS; UNCERTAINTY ANALYSIS;

ADAPTIVE CONTROLS; COORDINATION TASKS; HIGHLY NONLINEAR; LEADER FOLLOWERS; LINEAR MODELS; MANIPULATOR SYSTEMS; MULTI AGENTS; TORQUE CONTROLLERS; TRACKING ERRORS; TWO-LINK MANIPULATORS; UNCERTAIN DYNAMICS; UNCERTAIN PARAMETERS;

ADAPTIVE CONTROL SYSTEMS;

EID: 63149173639     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2008.4758194     Document Type: Conference Paper

References (21)

1. Y.F. Zheng and J.Y.S. Luh, "Optimal load distribution for two industrial robots handling a single object," Proceedings of IEEE International Conference on Robotics and Automation, Philadelphia, PA, pp. 344-349, 1988.
2. J. Tarn, A.K. Bejczy, "Intelligent planning and control for multirobot coordination: An event-based approach," IEEE Transcations on Robotics and Automation, vol. 12, no. 3, pp. 439-452, 1996.
3. Y.H. Liu and S. Arimoto, "Distributively controlling two robots handling an object in the task space without any communication," IEEE Transactions on Automatic Control, vol. 41, no. 8, pp. 1193-1198, 1996.
4. V. Kuma, N.E. Leonard, and A.S. Moorse (eds), Cooperative Control, Springer Lecture Notes in Control and Information Sciences, vol. 309, Springer-Verlag, 2004.
5. A. Jadbabaie, J. Lin, and A.S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988-1001, 2003.
6. Z. Lin, B. Francis, and M. Maggiore, "Necessary and sufficient graphical conditions for formation control of unicycles," IEEE Transactions on Automatic Control, vol. 50, no. 1, pp. 121-127, 2005.
7. Y. Hong, J. Hu, and L. Gao, "Tracking control for multi-agent consensus with an active leader and variable topology," Automatica, vol. 42, no. 7, pp. 1177-1182, 2006.
8. J. Hu and Y. Hong, "Leader-following coordination of multi-agent systems with coupling time delays," Physica A, vol. 374, no. 2, pp. 853-863, 2007.
9. J.A. Fax and R.M. Murray, "Information flow and cooperative control of vehicle formations," IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1465-1476, 2004.
10. W. Wang and J.J.E. Slotine, "On partial contraction analysis for coupled nonlinear oscillators," Biological Cybernetics, vol. 92, no. 1, pp. 38-53, 2005.
11. R. Olfati-Saber, J.A. Fax, and R.M. Murray, "Consensus and cooperation in networked multi-agent systems," Proceedings of the IEEE, vol. 95, no. 1, pp. 215-233, 2007.
12. W. Ren, R.W. Beard, and E.M. Atkins, "A survey of consensus problems in multi-agent coordination," Proceedings of American Control Conference, Portland, Oregon, pp. 1859-1864, 2005.
13. L. Cheng, Z.-G. Hou and M. Tan, "Multi-agent based adaptive consensus control for multiple manipulators with kinematic uncertainties," submitted to 2008 IEEE International Symposium on Intelligent Control.
14. L. Cheng, Z.-G. Hou and M. Tan, "Decentralized adaptive consensus control for multi-manipulator system with uncertain dynamics," submitted to 2008 IEEE International Conference on Systems, Man, and Cybernetics.
15. C. Godsil and G. Royle, Algebraic Graph Theory. New York: Springer, 2001.
16. R. J. Schilling, Fundamentals of Robotics: Analysis and Control, Hoboken, NJ: Prentice Hall, 1998.
17. W.E. Dixon, "Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics," IEEE Transactions on Automatic Control, vol. 52, no. 3, pp. 488-493, 2007.
18. F.L. Lewis, C.T. Abdallah, and D.W. Dawson, Control of Robot Manipulators. New York: Macmillan, 1993.
19. C.C. Cheah, C. Liu and J.J.E. Slotine, "Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models," IEEE Transactions on Automatic Control, vol. 51, no. 6, pp. 1024-1029, 2006.
20. I. Kanellakopoulos, P.V. Kokotovic and A.S. Morse, "Systematic design of adaptive controllers for feedback linearizable systems," IEEE Transactions on Automatic Control, vol. 36, no. 11, pp. 1241-1253, 1991.
21. P.A. Ioannou and J. Sun, Robust Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, 1995.