Adaptive Control for the Synchronization of Multiple Robot Manipulators with Coupling Time-Delays

被引：6

作者：

Nuno, Emmanuel ^{[1
,2
]}

Basanez, Luis ^{[2
]}

Ortega, Romeo ^{[3
]}

机构：

[1] Univ Guadalajara, Dept Comp Sci, Guadalajara 44430, Jalisco, Mexico

[2] UPC, IOC, Barcelona, Spain

[3] SUPELEC, Signaux & Syst Lab, Gif Sur Yvette, France

来源：

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年

关键词：

TELEOPERATORS; CONSENSUS; NETWORKS;

D O I：

10.1109/IROS.2010.5653730

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ith-manipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an estimate of the physical parameters of the nonlinear dynamics of the robot network. Moreover, the controllers can deal with different connectivity topologies (ring and star) and and can handle time-delays in the communications. Simulations, using a ten robot manipulators network with different connectivity topologies, that confirm the theoretical results are presented.

引用

页码：3308 / 3313

页数：6

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