Research On Consensus Cooperative Control Of Multi-manipulator System

With the rapid development of science and technology,various high and new technologies have emerged continually in society.A new technological revolution has inevitably made industries rely more and more on automation and information technology to increase production efficiency and economic benefit.The booming of multi-agent cooperative control technology conformed to the times,and many related researches were widely used in actual production and living.The consensus problem of multi-agent systems as a core issue of cooperative control has been attracting increasing attention.As a matter of fact,non-linear systems such as the Euler-Lagrange systems account for a vast majority in practice.As a typical Euler-Lagrange system,the manipulator system has been widely used in industry and has greatly liberated the labor force.Therefore,the research on cooperative control of multimanipulators system has great practical significance.This thesis mainly focuses on the distributed consensus problem of multi-manipulator system,and puts forward the corresponding control protocols for the position consensus,non-static speed consensus and non-static position consensus respectively.The main contributions of this thesis are as follow:(1)Two static position consensus control algorithms are proposed,for leaderless,modelindependent multi-manipulator system under undirected topology.One algorithm is designed by using the position and velocity information of manipulator's neighbors and the velocity information of its own.The other one is designed by using the position information of manipulator's neighbors and the velocity information of its own.By means of Matrosov stability theory and other analytical methods,the sufficient conditions for the consensus problem of the system are given.At last,numerical simulations of the planar two-link manipulators system are carried out to verify the feasibility of these consensus control protocols respectively.(2)Two velocity consensus control algorithms is proposed,as well,for leaderless and model-independent multi-manipulator system under undirected topology.In the first place,a velocity consensus control algorithm is designed by using the velocity information of manipulator's own,then another velocity consensus control algorithm is proposed for a multi-manipulator system with unknown disturbance.With many corresponding stability theory such as La Salle invariance principle,sufficient conditions for the consensus of multi-manipulator system are given.Finally,numerical simulation experiments verify the feasibility of these two control protocols respectively.(3)A non-static position consensus problem of multi-manipulator system is discussed.Under the undirected communication topology,a leaderless and model-independent distributed consensus algorithm is proposed for multi-manipulator system,which eventually make manipulators achieve consistent positions and constant velocities.Based on graph theory and Lyapunov stability theory,it is proved that the system can achieve state consensus.Finally,the numerical simulation based on the planar two-link manipulators system is performed to verify the validity of the control protocol.