Cooperative Multi-agent for The End-Effector Position of Robotic Arm Based on Consensus and PID Controller

Arif Nugroho, E. M. Yuniarno, M. Purnomo
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引用次数: 3

Abstract

In a multi-agent case, we consider not only an agent but also several agents. The problem of multi-agent is that each of the agents has a randomly different initial state. The existence of multi-agent in a system needs to be managed in order to be a structured system for making certain decision cooperatively. This paper presents the implementation of cooperative multi-agent for synchronizing the end-effector position of the robotic arm based on consensus and PID controller. Physically, the robotic arm has three servo motors that mean the robotic arm has three joints. Thus, to synchronize the end-effector position of the robotic arm among agents, all of the servo motors in all agents must be controlled in order to achieve the same point of view. In addition, this paper expounds how to derive the consensus equations and PID controller based on designed graph topology. The presence of two proposed methods is intended to compare whether or not the problem of multi-agent regarding randomly different initial state can be overcome by using consensus and PID controller. From the experimental results, the derived consensus equations and PID controller can be implemented to synchronize all of the joints possessed by the robotic arm. As a result, the end-effector of the robotic arm in all of the agents successfully pointed to the same position in three-dimensional space. It indicates that the derived consensus equations and PID controller can handle the different state of each joint in all of the agents.
基于共识和PID控制器的机械臂末端执行器位置多智能体协作
在多智能体情况下,我们不仅考虑一个智能体,而且考虑多个智能体。多智能体的问题是每个智能体具有随机不同的初始状态。系统中多智能体的存在需要对其进行管理,使其成为一个能够协同决策的结构化系统。提出了一种基于共识和PID控制器的多智能体协作同步机械臂末端执行器位置的方法。在物理上,机械臂有三个伺服电机,这意味着机械臂有三个关节。因此,为了使机器人手臂末端执行器的位置在各个agent之间同步,必须控制所有agent中的所有伺服电机以达到相同的视点。此外,本文还阐述了如何基于设计的图拓扑导出一致性方程和PID控制器。这两种方法的存在是为了比较是否可以使用共识和PID控制器来克服随机不同初始状态的多智能体问题。根据实验结果,推导出的一致性方程和PID控制器可以实现机械臂所有关节的同步。结果,所有代理中的机械臂末端执行器成功地指向三维空间中的相同位置。结果表明,所导出的一致性方程和PID控制器可以处理所有智能体中每个关节的不同状态。
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