Disturbance Observer-Based Consensus Control for Multiple Robotic Manipulators
Disturbance Observer-Based Consensus Control for Multiple Robotic Manipulators
复制标题
基于干扰观测器的多机器人操纵器一致性控制
DOI：
10.1109/access.2018.2869392
复制
发表时间：
2018-01-01
期刊：
影响因子：
3.9
通讯作者：
Shi, Zhiping
中科院分区：
文献类型：
--
作者：
Ren, Chang-E;Du, Tao;Shi, Zhiping
本文提出了一种新的多机械臂分布式一致性控制算法。与已有的研究成果相比，本文研究了具有未知干扰的多机械臂的一致性问题，考虑了未知干扰，使得机械臂动力学模型更加实用。此外，采用扰动观测器（DO）对未知扰动进行估计，提高了系统的鲁棒性和抗干扰能力。在多机器人系统中，有N个follower和1个leader，只有少数follower能够接收到leader的信息。即使只使用局部信息来设计基于do的共识控制算法，所设计的算法也能最终引导所有follower与leader保持相同的位移。证明了多机械臂的共识能力。仿真结果验证了该算法的有效性。
In this paper, a new distributed consensus control algorithm for multiple robotic manipulators is proposed. Comparing with the existing works, this paper studies the consensus problem of multiple robotic manipulators with unknown disturbances, and the consideration of unknown disturbances makes the dynamics model of the robotic manipulator more practical. Moreover, the disturbance observer (DO) is applied to obtain the estimation of unknown disturbance which can improve the robustness and anti-disturbance ability of the systems. There are N followers and one leader in multiple robotic manipulators systems and only a few followers can receive the information from the leader. Even if only the local information can be used to design the DO-based consensus control algorithm, the designed algorithm can steer all the followers to keep the same displacement with the leader finally. The consensus ability of the multiple robotic manipulators is proved. Simulation result is given to illustrate the effectiveness of the proposed algorithm.