Abstract
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.
| Original language | English |
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| Title of host publication | 2013 American Control Conference, ACC 2013 |
| Pages | 5380-5385 |
| Number of pages | 6 |
| Publication status | Published - 2013 |
| Externally published | Yes |
| Event | 2013 1st American Control Conference, ACC 2013 - Washington, DC, United States Duration: 17 Jun 2013 → 19 Jun 2013 |
Publication series
| Name | Proceedings of the American Control Conference |
|---|---|
| ISSN (Print) | 0743-1619 |
Conference
| Conference | 2013 1st American Control Conference, ACC 2013 |
|---|---|
| Country/Territory | United States |
| City | Washington, DC |
| Period | 17/06/13 → 19/06/13 |
Keywords
- Finite-time consensus control
- distributed protocols
- multiple manipulators
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Zhang, B., Jia, Y., Du, J., & Zhang, J. (2013). Finite-time consensus control for multiple manipulators with unmodeled dynamics. In 2013 American Control Conference, ACC 2013 (pp. 5380-5385). Article 6580678 (Proceedings of the American Control Conference).