Application of Trust Driven Adaptive Cooperative Control Algorithm

doi:10.16182/j.issn1004731x.joss.20-0261

Abstract

Abstract: When a multi-manipulator performs cooperative task, it's end position is difficult to accurately track the target and ensure the consistency influenced by the nonlinear factors such as working environment, assembly condition and system disturbances, resulting in large errors during collaborative work. To solve multi-manipulators position coordinated control problem, a multi-agent based adaptive position coordination control algorithm is proposed by researching on the novel trust mechanism, including adaptive update mechanism of trust value (self-trust and mutual-trust) and Fisher information weighted (covariance) update mechanism. In automated collaborative assembly tasks, the precise consensus positioning of end-effector is achieved with improvements in the control accuracy and efficiency. The simulation results verify the effectiveness of the proposed method.

Key words: trust-driven, multi-agent system, adaptive cooperative control, multi-manipulator coordination

CLC Number:

TP391.9

Gui Xindong, Ji Hongjiang, Fan Lingling, Liu Shida. Application of Trust Driven Adaptive Cooperative Control Algorithm[J]. Journal of System Simulation, 2021, 33(8): 1809-1817.

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