Task-space Cooperative Tracking Control of Networked Manipulators With Uncertain Kinematics and Dynamics

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• 英文论文题名：Task-space Cooperative Tracking Control of Networked Manipulators With Uncertain Kinematics and Dynamics
• 论文作者：Peihu Duan ; Zhisheng Duan
• 英文论文作者：Peihu Duan ; Zhisheng Duan ; State Key Laboratory for Turbulence and Complex Systems ; Department of Mechanics and Aerospace Engineering ; College of Engineering ; Peking University
• 年：2017
• 作者机构：State Key Laboratory for Turbulence and Complex Systems,Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University;
• 英文论文关键词：Networked Manipulators ; Uncertainties ; Observer ; Adaptive control
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：TP242
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：5
• 文件大小：399k
• 原文格式：D
• 会议级别：全国

摘要

In this paper, we investigate a distributed control approach to addressing the task-space synchronized tracking problem of networked manipulators with uncertain kinematics and dynamics, where the dynamic leader is available to only a subset of followers and followers have only local interaction. Specifically, without task-space velocity measurements, a disturbance observer is introduced to identify and compensate for uncertain dynamics while an adaptive law is designed to estimate the uncertain kinematics. Besides, it is strictly proved that the proposed control scheme ensures that tracking errors converge to zero as time tends to infinity. In the end, simulation results are provided to demonstrate the effectiveness of the proposed controller.
In this paper, we investigate a distributed control approach to addressing the task-space synchronized tracking problem of networked manipulators with uncertain kinematics and dynamics, where the dynamic leader is available to only a subset of followers and followers have only local interaction. Specifically, without task-space velocity measurements, a disturbance observer is introduced to identify and compensate for uncertain dynamics while an adaptive law is designed to estimate the uncertain kinematics. Besides, it is strictly proved that the proposed control scheme ensures that tracking errors converge to zero as time tends to infinity. In the end, simulation results are provided to demonstrate the effectiveness of the proposed controller.

引文

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