Distributed adaptive leader-following control for multi-agent multi-degree manipulators with finite-time guarantees

Muhammad Nasiruddin Mahyuddin, Guido Herrmann, F.L. Lewis

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

8 Citations (Scopus)

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.
Original languageEnglish
Title of host publication2013 IEEE 52nd Annual Conference on Decision and Control (CDC)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages1496 - 1501
Number of pages6
ISBN (Electronic)978-1-4673-5714-2
ISBN (Print)978-1-4673-5714-2
DOIs
Publication statusPublished - 10 Dec 2013
Event52nd IEEE Conference on Decision and Control (CDC 2013) - Florence, Italy
Duration: 10 Dec 201313 Dec 2013

Conference

Conference52nd IEEE Conference on Decision and Control (CDC 2013)
CountryItaly
CityFlorence
Period10/12/1313/12/13

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