Research On Synchronization Control Method Of Networked Multi-Agent System Of Multiple Manipulator-motors

An extensive range of manipulators in industrial production plays an important role in industrial automation.The manipulators move to a specific workspace at a given time,which is convenient and flexible,and better than manual operation.With the rapid development of modern industrial technology,a single manipulator can not meet the current demand,which requires coordination control of multi-manipulators.In practice,there are many situations that multi-manipulators need to achieve synchronization,this paper focuses on one situation that coordination and cooperation among the four motors in the same position of four manipulators.For four manipulators given positions,if driven motors have the same speeds,it can meet the four manipulators reach synchronization.In order to realize that the four robotic motors have more precisely same speed,in-depth research on synchronization control of multiple manipulator-motors based on networked multi-agent systems is studied.(1)In order to achieve the four motors in the same position of four manipulators to reach synchronization,this paper adopts a double-level control strategy,in the low-level control,it is for the control strategy of the single manipulator-motor,only by stabilizing the single motor can we further study the synchronization of the multiple manipulator-motors,fuzzy PID is used as a control compensator,and the control strategy of single motor based on fuzzy PID is designed to ensure the stability of the speed of single manipulator-motor.(2)The multi-agent system synchronization control is leaded into the study of multiple manipulator-motor system control in the high-level control.And the consensus control strategy of multi-agent system is used to coordinate the motors to ensure their speeds to achieve consensus.Considering the four motors system in the same position of four manipulators needs to meet the requirements of rapidity in the reality,the predictive mechanism is applied to design the synchronization control strategy of multiple manipulator-motors based on the multi-agent prediction mechanism in the network,which satisfies the demand for faster in the reality and ensures multiple manipulator-motors system can rapidly reach synchronization.(3)In the high-level control,in view of the need to meet the actual economic requirements,a continuous quasi-resetting updating control mechanism is used to design the synchronization control strategy of the multiple manipulator-motors based on continuous quasi-resetting architecture,which satisfies the demand for economy in the reality and ensures the synchronization of the multiple manipulator-motors system.(4)Respectively,simulation experiments and analyzes are carried out to verify the effectiveness and practicability of the proposed control strategy as described above.