Distributed Adaptive Leader-following control for multi-agentudmulti-degree manipulators with Finite-Time guarantees

摘要

A robust distributed adaptive leader-followingudcontrol for multi-degree-of-freedom (multi-DOF) robotudmanipulator-type agents is proposed to guarantee finite-timeudconvergence for leader-following tracking and parameterudestimation via agent-based estimation and control algorithms.udThe dynamics of each manipulator agent system of n degreesudincluding the leader agent are assumed unknown. For audspecific leader-following network Laplacian, the agents’udposition, velocity and some switched control information canudbe fed back to the communication network. In contrast to theudcurrent multi-agent literature for robotic manipulators, theudproposed approach does not require a priori information of theudleader’s joint velocity and acceleration to be available to alludagents due to the use of agent-based robust adaptive controludelements. Due to the multi-DOF character of each agent,udmatrix theoretical results related to M-matrix theory used forudmulti-agent systems needs to be extended to the multi-degreeudcontext in contrast to recent scalar double integrator results.udA simulation example of two-degree of freedom manipulatorsudexemplifies the effectiveness of the approach.