TY - GEN
T1 - Finite-time consensus control for multiple manipulators with unmodeled dynamics
AU - Zhang, Bin
AU - Jia, Yingmin
AU - Du, Junping
AU - Zhang, Jun
PY - 2013
Y1 - 2013
N2 - This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.
AB - This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.
KW - Finite-time consensus control
KW - distributed protocols
KW - multiple manipulators
UR - https://www.scopus.com/pages/publications/84883537196
U2 - 10.1109/ACC.2013.6580678
DO - 10.1109/ACC.2013.6580678
M3 - Conference contribution
AN - SCOPUS:84883537196
SN - 9781479901777
T3 - Proceedings of the American Control Conference
SP - 5380
EP - 5385
BT - 2013 American Control Conference, ACC 2013
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1st American Control Conference, ACC 2013
Y2 - 17 June 2013 through 19 June 2013
ER -