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Consensus control of multi‑manipulator systems based on disturbance observer under Markov switching topologies
Chang‑ERen,QuanxinFu
0
(College of Information Engineering, Capital Normal University, Beijing 100089, China)
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DOI:https://doi.org/10.1007/s11768-020-00028-6
基金项目:This work was supported in part by the National Natural Science Foundation of China (No. 61803276), the Beijing Municipal Education Commission Science Plan (General Research Project, No. KM201910028004), the Beijing Natural Science Foundation (No. 4202011), and Key Research Grant of Academy for Multidisciplinary Studies of CNU (No. JCKXYJY2019018).
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)
Abstract:
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.
Key words:  Multi-manipulator systems · Disturbance observer · Markov switching topologies · Consensus control