Study On Consensus Problem Of Multi-manipulator System Based On Undirected Communication Topology

With the continuous innovation and development of science,it has become more and more common to use agents to replace human beings in highly repetitive work and dangerous environment.Facing the increasingly complex demand of modern industry,the demand for the control of machine agents is also increasing,and a single agent has been insufficient to complete some complex tasks.Therefore,researchers combine multiple agents to achieve industrial needs by controlling the multiagent cooperative operation.As a classical non-linear system,Lagrange system has been widely used in real life and attracts much attention.As the most common practical application of Lagrange system,manipulator system can meet many industrial needs.The requirement of multi-manipulator working together has more practical significance.Therefore,the study on consistency control of multimanipulator system has important practical significance.Aiming at the consensus problem of multimanipulator system,some relevant control algorithms are studied with applications.Firstly,according to the basic components of the manipulator system,the motion characteristics,working principle and the problems faced in precise modeling are introduced.Then,based on the dynamic analysis of the Lagrange system,the mathematical modeling process of the manipulator system is deduced in detail by using Euler-Lagrange method,and the general characteristics of the dynamic model of the manipulator system are analyzed.Secondly,the tracking problem of multi-manipulator system is addressed based on backstepping method.For undirected communication topology and distributed multi-manipulator system with a leader,the system error is defined based on Lagrange system's mathematical model as a new system variable.The backstepping method is used to design the control law.It is theoretically proved that when the leader meets certain conditions,the system error tends to zero and the distributed tracking control is realized.The validity of the results is verified by simulations.Finally,consensus problem of multi-manipulator system is studied based on distributed sliding mode control.Aiming at undirected communication topology and multi-manipulator system without leader,a homogeneous distributed sliding surface is designed by using distributed sliding mode control,so that the system state can reach the origin in limited time when it is on the sliding surface.The sliding mode controller is further designed so that the manipulator in any initial state can reach the designed sliding mode surface in a finite time.Distributed sliding mode control can eliminate the influence of singularity and weaken the influence of chattering.The effectiveness of the results is verified by mathematical simulation.