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Consensus in networks of uncertain robot manipulators without using neighbors’ velocity information

Published online by Cambridge University Press:  30 June 2021

Seyed Mostafa Almodarresi Open the ORCID record for Seyed Mostafa Almodarresi [Opens in a new window] ,
Marzieh Kamali  and
Farid Sheikholeslam
Seyed Mostafa Almodarresi*
Affiliation:
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan84156-83111, Iran
Marzieh Kamali
Affiliation:
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan84156-83111, Iran
Farid Sheikholeslam
Affiliation:
Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan84156-83111, Iran
*
*Corresponding author. Email: almodarresi8@gmail.com
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Abstract

In this paper, new distributed adaptive methods are proposed for solving both leaderless and leader–follower consensus problems in networks of uncertain robot manipulators, by estimating only the gravitational torque forces. Comparing with the existing adaptive methods, which require the estimation of the whole dynamics, presented methods reduce the excitation levels required for efficient parameter search, the convergence time, and the complexity of the regressor. Additionally, proposed schemes eliminate the need for velocity information exchange between the agents. Global asymptotic synchronization is shown by introducing new Lyapunov functions. Simulation results are provided for a network of 10 4-DOF robot manipulators.

Keywords

ConsensusMulti-agent systemsEuler–Lagrange systemRobot manipulatorsDistributed controlAdaptive gravity compensation
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 403 - 419
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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