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 MoreMetadata
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.
Published in: 2023 62nd IEEE Conference on Decision and Control (CDC)
Date of Conference: 13-15 December 2023
Date Added to IEEE Xplore: 19 January 2024
ISBN Information: