Fully Distributed Adaptive Consensus of Multiple Manipulators with Elastic Joints Under a Directed Graph
- Resource Type
- Conference
- Authors
- Meng, Xiangzheng; Mei, Jie; Wu, Aiguo; Ma, Guangfu
- Source
- 2023 62nd IEEE Conference on Decision and Control (CDC) Decision and Control (CDC), 2023 62nd IEEE Conference on. :2409-2414 Dec, 2023
- Subject
- Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Adaptation models
Backstepping
Adaptive systems
Trajectory tracking
Directed graphs
Adaptive filters
Transforms
Multi-agent systems
directed graph
manipulator with elastic joints
command filter based adaptive backstepping approach
model reference adaptive consensus
- Language
- ISSN
- 2576-2370
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.