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Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees

หน่วยงาน Universiti Sains Malaysia, Malaysia

รายละเอียด

ชื่อเรื่อง : Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees
นักวิจัย : Mahyuddin, Muhammad Nasiruddin , Herrmann, Guido , Lewis, Frank L.
คำค้น : TK1-9971 Electrical engineering. Electronics. Nuclear engineering
หน่วยงาน : Universiti Sains Malaysia, Malaysia
ผู้ร่วมงาน : -
ปีพิมพ์ : 2556
อ้างอิง : Mahyuddin, Muhammad Nasiruddin and Herrmann, Guido and Lewis, Frank L. (2013) Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees. In: 52nd IEEE Conference on Decision & Control, 10 – 13 Disember 2013, Florence, Itali. (Submitted) , http://eprints.usm.my/30477/1/IEEE_CONFERENCE.pdf
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : http://eprints.usm.my/30477/
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

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.

บรรณานุกรม :
Mahyuddin, Muhammad Nasiruddin , Herrmann, Guido , Lewis, Frank L. . (2556). Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees.
    กรุงเทพมหานคร : Universiti Sains Malaysia, Malaysia.
Mahyuddin, Muhammad Nasiruddin , Herrmann, Guido , Lewis, Frank L. . 2556. "Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees".
    กรุงเทพมหานคร : Universiti Sains Malaysia, Malaysia.
Mahyuddin, Muhammad Nasiruddin , Herrmann, Guido , Lewis, Frank L. . "Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees."
    กรุงเทพมหานคร : Universiti Sains Malaysia, Malaysia, 2556. Print.
Mahyuddin, Muhammad Nasiruddin , Herrmann, Guido , Lewis, Frank L. . Distributed Adaptive Leader-following control for multi-agent multi-degree manipulators with Finite-Time guarantees. กรุงเทพมหานคร : Universiti Sains Malaysia, Malaysia; 2556.