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 language | English |
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| Title of host publication | 2013 IEEE 52nd Annual Conference on Decision and Control (CDC) |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Pages | 1496 - 1501 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4673-5714-2 |
| ISBN (Print) | 978-1-4673-5714-2 |
| DOIs | |
| Publication status | Published - 10 Dec 2013 |
| Event | 52nd IEEE Conference on Decision and Control (CDC 2013) - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013 |
Conference
| Conference | 52nd IEEE Conference on Decision and Control (CDC 2013) |
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| Country/Territory | Italy |
| City | Florence |
| Period | 10/12/13 → 13/12/13 |