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

• 作者: Chang-E Ren Quanxin Fu
• 来源期刊: 控制理论与技术（英文版）
• 年，卷（期）: 2021,（2）
• 所属期刊栏目: RESEARCH ARTICLES
• 页码范围: 273-282
• 页数: 10页
• 语种: 英文

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.