Designing Consensus Algorithms for Three-Link Manipulators

Guisheng Zhai, Satoshi Nakamura, Mardlijah

研究成果: Conference article

抄録

We deal with a consensus control problem for a group of three-link manipulators which are networked by digraphs. Assuming that the control inputs of each manipulator are the torques on its links and they are constructed based on weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. The control problem is reduced to designing Hurwitz polynomials with complex coefficients. We show that by using Hurwitz polynomials with complex coefficients, a necessary and sufficient condition is obtained for designing the consensus algorithm. 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 algorithms.

元の言語English
記事番号012017
ジャーナルJournal of Physics: Conference Series
1218
発行部数1
DOI
出版物ステータスPublished - 2019 5 31
イベント3rd International Conference on Mathematics; Pure, Applied and Computation, ICoMPAC 2018 - Surabaya, Indonesia
継続期間: 2018 10 20 → …

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manipulators
polynomials
coefficients
torque

ASJC Scopus subject areas

  • Physics and Astronomy(all)

これを引用

Designing Consensus Algorithms for Three-Link Manipulators. / Zhai, Guisheng; Nakamura, Satoshi; Mardlijah.

:: Journal of Physics: Conference Series, 巻 1218, 番号 1, 012017, 31.05.2019.

研究成果: Conference article

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