Research On Consensus Of Flexible Multi-Robotic Arm System

With the development of robot technology, more and more flexible robotic arm were used in engineering practice. Generally speaking, it is quite difficult to design a single robot arm to fulfill a complex task. To improve the reliability and robustness of the robotic system, the designed flexible robotic arm systems are expected to work cooperated. So,research on consensus control of multi-robot systems has been increasingly developed due to the widely applications. In this paper, the research on multi-robot systems is mainly based on the theory of multi-agent systems. However, in the existing literature on consensus, most of the available results are encountered with high conservative and less results on non-linear systems, which restrict the applications of consensus control. With the above problems in mind, in this paper we introduce concept of one-sided Lipschitz nonlinear condition and aim to design a less conservative algorithm of consensus control for multi-agent systems. Specifically, the main contents are as follows:(1) For the agents with one-side Lipschitz nonlinear dynamics, we propose a static distributed protocol and establish some sufficient conditions for the consensus control of multi-agent systems. By using matrix technology,we transform the proposed sufficient conditions into the linear matrix inequalities which can be solved by matrix numerical software. As a special case, consensus control of Lipschitz nonlinear multi robotic arm system has also been addressed. Furthermore, leader-less consensus control of Lipschitz nonlinear multiple robotic arm systems under observer-based protocol has been studied.(2) We investigate the consensus control of multi-agent systems with general Lipschitz nonlinear dynamics under a fixed topology. Based on the structure information of each individual agent, a less conservative consensus algorithm is proposed. We present a relative-state based adaptive protocol and using the relative weigh between two agents. By take advantage of structural information of the non-linear dynamics, the proposed design is less conservative. As a special case, consensus of Lipschitz nonlinear multiple robotic arm systems has also been investiaged.(3) Based on Matlab simulation platform, the simulation of the proposed consensuscontrol algorithms for multi-robotic systems. We take simulations for one-side Lipschitz non-linear system, observer-based one-side Lipschitz non-linear system and generalized Lipschitz non-linear systems, respectively. Simulation results show the effectiveness of the proposed algorithms about consensus control of multiple robotic arm systems.