Open AccessAdaptive Coordinated Control Strategy of Multi Manipulator System based on Multi-Agent
Author(s) -
Nianen Zhu,
Jiang Han,
Lian Xia,
Hui Liu
Publication year - 2021
Publication title -
international journal of circuits, systems and signal processing
Language(s) - English
Resource type - Journals
ISSN - 1998-4464
DOI - 10.46300/9106.2021.15.126
Subject(s) - flexibility (engineering) , computer science , affine transformation , control engineering , controller (irrigation) , control theory (sociology) , mobile manipulator , task (project management) , matlab , control system , control (management) , robot , artificial intelligence , engineering , mathematics , mobile robot , statistics , systems engineering , electrical engineering , pure mathematics , agronomy , biology , operating system
With people's increasing awareness of life and the increasing complexity of exploration in unknown environment, a single robot can not meet the increasing demand, including the price, flexibility and efficiency of robots. As a common mechanical control system in industrial production instead of human production, multi manipulator system can be applied in complex environment, multi task and other conditions. In order to settle the coordinated control fault of multi manipulator system, we study adaptive coordinated control strategy with the help of multi-agent research method in this paper, which can simplify the complexity of the problem and design an efficient and feasible system control protocol. The complex items in the multi manipulator system are treated as non affine systems. Using the design idea of non affine algorithm, combined with implicit function theorem and median theorem, the non affine system is transformed into affine systems, the controller is separated, and a distributed adaptive control strategy is designed. The results indicate that manipulator systems can effectively track the active manipulator system in finite time and the significance of the algorithm is proven by MATLAB simulation analysis.