Robust Consensus Control for Multiple Robotic Manipulators

摘要：

　　To deal with the uncertainty and leader-follower synchronization of multiple robotic manipulators system (MRMS),a distributed robust consensus controller is proposed based on undirected graph theory,which describes the information change among the MRMS.The corresponding stability of the proposed controller is proven by the Lyapunov method.Simulations conducted on a MRMS indicate the capabilities of the algorithms.

关键词： Consensus multiple robotic manipulators leader-follower robust control

作者: ZHAO Ge ZHAO Dongya

作者单位: College of Chemical Engineering,China University of Petroleum,Qingdao,Shandong,266580,China College of Chemical Engineering,China University of Petroleum,Qingdao,Shandong,266580,China;State Ke

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 2229-2233

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）