Fully Distributed Adaptive Consensus of Multiple Manipulators with Elastic Joints Under a Directed Graph | IEEE Conference Publication | IEEE Xplore

Fully Distributed Adaptive Consensus of Multiple Manipulators with Elastic Joints Under a Directed Graph


Abstract:

In this paper, the distributed leaderless consensus problem of multiple manipulators with elastic joints under a directed graph is investigated, which extends existing re...Show More

Abstract:

In this paper, the distributed leaderless consensus problem of multiple manipulators with elastic joints under a directed graph is investigated, which extends existing results on the coordination of multiple second-order Euler-Lagrange systems to fourth-order manipulators with elastic joints. We use the model reference adaptive consensus scheme to transform the consensus problem into two subproblems. A trajectory tracking algorithm is designed based on the command filter adaptive backstepping approach, and it is shown that the joint positions of the manipulators achieve ultimately bounded consensus. The proposed algorithm only requires the interaction of the relative joint position information.
Date of Conference: 13-15 December 2023
Date Added to IEEE Xplore: 19 January 2024
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Conference Location: Singapore, Singapore

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