Decentralized adaptive consensus control for multi-manipulator system with uncertain dynamics

@article{Cheng2008DecentralizedAC,
  title={Decentralized adaptive consensus control for multi-manipulator system with uncertain dynamics},
  author={Long Cheng and Zeng-Guang Hou and Min Tan},
  journal={2008 IEEE International Conference on Systems, Man and Cybernetics},
  year={2008},
  pages={2712-2717}
}
An adaptive control approach is proposed to deal with the multi-manipulator system consensus problem based on the multi-agent theory. In the current multi-agent literature, agents are assumed to have determined models. However, the real manipulator's dynamics contains uncertain parameters. According to the ldquolinearity-in-parametersrdquo property, the adaptive updating law for uncertain dynamics parameters is derived by the projection method. Then, a decentralized controller is designed based… CONTINUE READING
27 Citations
18 References
Similar Papers

Citations

Publications citing this paper.
Showing 1-10 of 27 extracted citations

References

Publications referenced by this paper.
Showing 1-10 of 18 references

Similar Papers

Loading similar papers…