A safe-guarded multi-agent control system for Tripod

This paper presents an evaluation of a practical solution for a complex control problem. This control problem concerns the operation of a parallel manipulator. It is complex in the sense that it entails a set of interdependent sub-problems that require solutions with multi-operation modes and safety features. One of the methods to realize such a control system is by using a Multi-Agent based Control System (MACS) that uses autonomous agents to handle specific control problems and coordinate their output to attain an overall goal [1]. Recently a generalized control solution for mechatronic systems together with a supporting framework was developed by using MACS and pattern based design. This control solution for complex control problems is evaluated. This generalized control solution includes safety patterns and is based on the concept of Multi- Agent systems. It is found that after some adaptation this control solution realizes a good working error handling mechanism.