Consensus control of multi-manipulator systems based on disturbance observer under Markov switching topologies

• Published in: Control theory and technology Vol. 19; no. 2; pp. 273 - 282
• Main Authors: Ren, Chang-E, Fu, Quanxin
• Format: Journal Article
• Language: English
• Published: Guangzhou South China University of Technology and Academy of Mathematics and Systems Science, CAS 01-05-2021; Springer Nature B.V; College of Information Engineering,Capital Normal University,Beijing 100089,China
• Subjects: Complexity; Computational Intelligence; Control; Control and Systems Theory; Control systems; Disturbance observers; Engineering; Manipulators; Mechatronics; Optimization; Research Article; Robot arms; Robotics; Switching; Systems Theory; Topology; Consensus control; Disturbance observer; Markov switching topologies; Multi-manipulator systems
• ISSN: 2095-6983; 2198-0942
• DOI: 10.1007/s11768-020-00028-6

In this paper, to solve the consensus control problem of multi-manipulator systems under Markov switching topologies, we propose a distributed consensus control strategy based on disturbance observer. In multi-manipulator systems, external disturbance described by heterogeneous exogenous systems is considered, and all communication topologies are directed. First, a disturbance observer is presented to suppress the influence of unknown external disturbance, and the equivalent compensation is introduced into the control protocol in multi-manipulator systems. Then, a novel control protocol based on neighbor information is designed, which guarantees that multi-manipulator systems reach consensus under Markov switching topologies. Finally, two simulation examples verify the validity of the theoretical result.