A Unified Approach to Consensus Control of Three-Link Manipulators

Guisheng Zhai, Satoshi Nakamura, Mardlijah

研究成果: Article査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)3-15
ページ数13
ジャーナルJournal of Intelligent and Robotic Systems: Theory and Applications
97
1
DOI
出版ステータスPublished - 2020 1 1

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 機械工学
  • 産業および生産工学
  • 人工知能
  • 電子工学および電気工学

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