Article ID Journal Published Year Pages File Type
707549 European Journal of Control 2014 10 Pages PDF
Abstract

This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the study is focused on networks composed of nonidentical flexible-joint robot manipulators. Through a straightforward Lyapunov stability analysis, it is established that a simple control law provides a solution to the leader–follower consensus problem, provided that at least one follower has a direct access to the leader׳s position, and to the leaderless consensus problem. The network is modeled as an undirected graph and the network interconnection can have variable time-delays. The proposed controller consists of two different terms, one that dynamically compensates the robot gravity and another which ensures the desired consensus objective. This last term is a simple Proportional plus damping scheme. Simulations, using a network with ten manipulators, and experiments, with three 3 degrees-of-freedom manipulators, are provided to support the theoretical contributions of this work.

Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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