A Unified Approach to Consensus Control of Three-Link Manipulators

Guisheng Zhai, Satoshi Nakamura, Mardlijah

研究成果: Article

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.

元の言語English
ジャーナルJournal of Intelligent and Robotic Systems: Theory and Applications
DOI
出版物ステータスPublished - 2019 1 1

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Manipulators
Torque
Polynomials

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

これを引用

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abstract = "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.",
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AU - Zhai, Guisheng

AU - Nakamura, Satoshi

AU - Mardlijah,

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N2 - 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.

AB - 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.

KW - Complex Hurwitz polynomials

KW - Consensus algorithms

KW - Consensus rate

KW - Graph Laplacian

KW - Three-link manipulators

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