收藏本站
收藏 | 手机打开
二维码
手机客户端打开本文

Leaderless and Non-static Position Consensus Algorithm for Multi-manipulator Systems under Undirected Communication Topology

Zhao Tan  Fengmin Yu  Qiaoqian Chen  
【摘要】:This paper focuses on the non-static position consensus problem of the multi-manipulator system. Under the undirected communication topology, the leaderless and non-static position consensus algorithm is proposed for the multi-manipulator system, which eventually makes manipulators to achieve consistent positions and constant velocities. Based on the graph theory and the Matrosov's theorem, it is proved that the system can achieve a state consensus. Finally, the numerical simulation based on the planar two-link manipulators system is performed to verify the validity of the control protocol.

知网文化
【相似文献】
中国期刊全文数据库 前20条
1 KIM Dong-hyeon;LEE Choon-man;;Development of a one-axis manipulator for laser-assisted machining[J];Journal of Central South University;2013年02期
2 ;Dimensional synthesis of a 3-DOF parallel manipulator based on dimensionally homogeneous Jacobian matrix[J];Science China(Technological Sciences);2010年01期
3 Luo Lei;Wei Zhenchun;Jin Aimin;Wang Jinbo;Zhang Li;;The design of automatic loading-and-unloading material manipulator for telescopic punch[J];Computer Aided Drafting,Design and Manufacturing;2016年02期
4 刘善增;朱真才;孙肇鹏;曹国华;;Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator[J];Journal of Central South University;2014年07期
5 蒋志宏;李洪杰;肖涛;袁宝峰;李辉;董悫;魏博;;Design,analysis and control for an antarctic modular manipulator[J];Journal of Beijing Institute of Technology;2013年04期
6 ;Dynamic analysis of multi-link spatial flexible manipulator arms with dynamic stiffening effects[J];Theoretical & Applied Mechanics Letters;2012年06期
7 ZHU Xiaorong;SHEN Huiping;;Optimal design of the link lengths for a planar parallel manipulator[J];Computer Aided Drafting,Design and Manufacturing;2012年04期
8 ALL-BAIL Mohammed;;Model and characteristic of a new underactuated manipulator and its simulation[J];重庆邮电大学学报(自然科学版);2009年02期
9 罗凌智;张宇;孙增圻;;Task Space Division and Trajectory Planning for a Flexible Macro-Micro Manipulator System[J];Tsinghua Science and Technology;2007年05期
10 张秀峰;孙立宁;;Design considerations of high precision 6-HTRT parallel manipulator[J];Journal of Harbin Institute of Technology;2006年03期
11 陈峰,赵锡芳,费燕琼,殷跃红;Singularity-free path planning for parallel manipulator[J];Journal of Harbin Institute of Technology;2004年05期
12 贺怀清,洪炳熔;A new acoustic model used in Chinese order recognition system for space teleoperating manipulator[J];Journal of Harbin Institute of Technology;1999年04期
13 杜志江;肖永强;董为;;Method for optimizing manipulator's geometrical parameters and selecting reducers[J];Journal of Central South University;2013年05期
14 孙涛;宋轶民;阎凯;;Kineto-static analysis of a novel high-speed parallel manipulator with rigid-flexible coupled links[J];Journal of Central South University of Technology;2011年03期
15 尤超蓝;洪嘉振;蔡国平;;Modeling Study of Planar Flexible Manipulator Undergoing Large Deformation[J];Journal of Shanghai Jiaotong University;2007年06期
16 ;Workspace and rotational capability analysis of a spatial 3-DoF parallel manipulator[J];Progress in Natural Science;2004年11期
17 ;NOVEL 6-SPS PARALLEL 3-DIMENSIONAL PLATFORM MANIPULATOR AND ITS FORCE/MOTION TRANSMISSION ANALYSIS[J];Chinese Journal of Mechanical Engineering(English Edition);2002年04期
18 项溪;朱晓敏;尚小溥;;A Comprehensive Evaluation Method for Kinematic Accuracy of Space Manipulator Based on Analytic Hierarchy Process[J];Journal of Shanghai Jiaotong University(Science);2016年04期
19 章定国;;Recursive Lagrangian dynamic modeling and simulation of multi-link spatial flexible manipulator arms[J];Applied Mathematics and Mechanics(English Edition);2009年10期
20 ;A novel method to avoid turning point singularities for the semi-regular hexagons Gough-Stewart parallel manipulator[J];Science in China(Series E:Technological Sciences);2008年07期
中国重要会议论文全文数据库 前10条
1 Zhao Tan;Fengmin Yu;Qiaoqian Chen;;Leaderless and Non-static Position Consensus Algorithm for Multi-manipulator Systems under Undirected Communication Topology[A];第37届中国控制会议论文集(D)[C];2018年
2 Yang Qian;Xiongjun Wu;Shengtong Wu;Fei Han;;RBF-neural network adaptive control of mobile manipulator[A];第37届中国控制会议论文集(D)[C];2018年
3 CUI Mingyue;Wu Zhaojing;;Stochastic modeling and control of manipulator with elastic joint actuated by DC-motors[A];第36届中国控制会议论文集(B)[C];2017年
4 Zhulong Shao;Shurong Li;Huaiqiang Yin;;Robust Sliding-Mode Position/Force Set-Point Control of Underactuated Constrained manipulator[A];第36届中国控制会议论文集(A)[C];2017年
5 ;Application of immune evolutionary algorithm to determine the position and rotation of parallel manipulator[A];第24届中国控制与决策会议论文集[C];2012年
6 Dong Liu;Xuzhi Lai;Yawu Wang;Xiongbo Wan;;Position Control of a Planar Four-Link Underactuated Manipulator[A];第37届中国控制会议论文集(A)[C];2018年
7 Yawu Wang;Xuzhi Lai;Pan Zhang;;Control strategy based on differential evolution algorithm for planar second-order nonholonomic manipulator[A];第37届中国控制会议论文集(D)[C];2018年
8 ;KINEMATICS AND DYNAMICS ANALYSIS OF MAINTENANCE MANIPULATOR[A];2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会论文集[C];2006年
9 Qijie Zhou;Manlu Liu;Wei Wang;Liang Xu;Tianxiang Ao;Hua Zhang;;Research On Fault Tolerant Control Strategy of Multi-Degree-of-Freedom Manipulator with Single Joint Faults[A];第37届中国控制会议论文集(D)[C];2018年
10 ;On the Kinematics Analysis and Motion Planning of the Manipulator of a Mobile Robot[A];Proceedings of the 2011 Chinese Control and Decision Conference(CCDC)[C];2011年
中国博士学位论文全文数据库 前3条
1 Shareef Aldoom Abdallah Adam;[D];扬州大学;2016年
2 NGO THANH QUYEN(吴青权);输电线路除冰机器人智能自适应跟踪控制方法研究[D];湖南大学;2012年
3 Mohamed Elamin Sahabi;[D];东南大学;2017年
中国硕士学位论文全文数据库 前9条
1 Shokanbi Akeem Olanrewaju;[D];电子科技大学;2018年
2 阿廖沙;机械手的运动数学建模[D];兰州交通大学;2015年
3 陈铁牛;机器人运动学标定的研究[D];哈尔滨工业大学;2010年
4 宫伟;平面柔性多连杆机械臂的一体化设计[D];哈尔滨工业大学;2008年
5 齐彪;混凝土喷射机多关节臂架运动学建模与控制算法的研究[D];哈尔滨工业大学;2013年
6 李兴修;柔性机械臂的振动控制研究[D];东北大学;2010年
7 高艳;美国大报之中国国家形象的话语建构[D];河北师范大学;2012年
8 Rai Afaq Ali(瑞扬);Delta机器人的动力学分析和振动控制[D];中国海洋大学;2015年
9 姜丹;外空间环境中的柔性机械臂的非线性振动研究[D];东北大学;2010年
 快捷付款方式  订购知网充值卡  订购热线  帮助中心
  • 400-819-9993
  • 010-62982499
  • 010-62783978