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A decentralized adaptive control for tightly connected networked Lagrangian systems

机译:紧密连接的网络拉格朗日系统的分散自适应控制

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In this work, a decentralized control strategy for tightly connected networked Lagrangian systems is designed. The main characteristics of the solution is that it allows to both control the motion of the handled object and the squeezing wrenches arising on it and this is achieved by resorting to a layered architecture. At the top layer, robots exploit consensus theory to distributedly estimate the full state of the system and the object dynamics to estimate the squeezing wrenches, while, at the second layer, a local adaptive control law is specified in order to both control the local contribute to the squeezing wrenches and the local motion of the robot. The effectiveness of the solution is proven by employing 6-DOFs serial chain manipulators mounted on a mobile platform to perform a cooperative load transportation task.
机译:在这项工作中,设计了紧密连接的网络拉格朗日系统的分散控制策略。解决方案的主要特性是它允许控制处理物体的运动和通过借助层叠架构来实现其上产生的挤压扳手。在顶层,机器人利用共识理论以分布方式估计系统的全部状态和对象动态来估计挤压扳手,而在第二层,指定了本地自适应控制定律,以便控制本地贡献挤压扳手和机器人的局部运动。通过采用安装在移动平台上的6-DOFS串行链式操纵器来证明解决方案的有效性,以执行合作负载运输任务。

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