Abstract
This paper proposes a disturbance management methodology for an agent-based holonic manufacturing system by using hybrid control approach, with its application to a mobile manipulator system. Firstly, the architectures based on holarchy and agents are given. Then the framework of hybrid control strategy is outlined and the stability analysis for the closed-loop system is introduced. The major contribution of this work is the exploration for using hybrid control approach into disturbance management mechanism. The switched disturbance detector is presented and the identification algorithm is given. The hybrid controller is designed to reject the disturbance by switching between reactions against diagnosed symptoms. Finally, the case study onto the mobile manipulator hybrid system verifies the effectiveness and applicability of this design method. It validates the agility, efficiency, and retaining stability to system of the holonic multiagent concept for industrial or other application systems.
Published Version
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