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Semi-decentralized control of multi-agent systems based on redundant manipulator optimization methods

Sadati, N ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1109/AMC.2006.1631671
  3. Publisher: 2006
  4. Abstract:
  5. In this paper, a new approach for online reactive path generation and control of multi-agent systems is proposed. This method is based on local optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of the agents' velocities to the desired values in the null-space of the primary task is guaranteed by introducing a new control law. The efficacy of the proposed algorithm is demonstrated through simulation experiments. © 2006 IEEE
  6. Keywords:
  7. Inverse kinematics ; Online systems ; Optimization ; Problem solving ; Redundant manipulators ; Control law ; Reactive path generation ; Multi agent systems
  8. Source: 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, 27 March 2006 through 29 March 2006 ; Volume 2006 , 2006 , Pages 278-283
  9. URL: https://ieeexplore.ieee.org/document/1631671