Consensus control of multi-manipulator systems based on disturbance observer under Markov switching topologies
Chang-E Ren
Quanxin Fu
College of Information Engineering,Capital Normal University,Beijing 100089,China
摘要：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 switch-ing topologies.Finally,two simulation examples verify the validity of the theoretical result.
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论文发表日期：2021-05-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：10( 273-282 )
英文信息