A Unified Approach to Consensus Control of Three-Link Manipulators

被引：0
|
作者：
Zhai, Guisheng [1 ]
Nakamura, Satoshi [1 ]
Mardlijah [2 ]
机构：
[1] Shibaura Inst Technol, Dept Math Sci, Saitama, Japan
[2] Institut Teknol Sepuluh Nopember, Dept Math, Surabaya, Indonesia
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2020年 / 97卷 / 01期
关键词：
Three-link manipulators; Consensus algorithms; Graph Laplacian; Complex Hurwitz polynomials; Consensus rate; MULTIAGENT SYSTEMS; SUFFICIENT CONDITIONS; SYNCHRONIZATION; STABILITY;
D O I：
10.1007/s10846-019-01032-y
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We consider a consensus control problem for a set of three-link manipulators connected by digraphs. Assume that the control inputs of each manipulator are the torques on its links and they are generated by adjusting the weighted difference between the manipulator's states and those of its neighbor agents. Then, we propose a condition for adjusting the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. By designing complex Hurwitz polynomials, we obtain a necessary and sufficient condition for achieving the consensus. Moreover, the discussion is extended to the case of designing convergence rate of consensus. Numerical examples are provided to illustrate the condition and the design conditions.
引用
收藏
页码：3 / 15
页数：13
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