TY - JOUR
T1 - A Unified Approach to Consensus Control of Three-Link Manipulators
AU - Zhai, Guisheng
AU - Nakamura, Satoshi
AU - Mardlijah,
N1 - Funding Information:
The authors would like to thank Professor Lianglin Xiong with Yunnan Minzu University for valuable discussion.
Publisher Copyright:
© 2019, Springer Nature B.V.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020/1/1
Y1 - 2020/1/1
N2 - We consider a consensus control problem for a set of three-link manipulators connected by digraphs. Assume that the control inputs of each manipulator are the torques on its links and they are generated by adjusting the weighted difference between the manipulator’s states and those of its neighbor agents. Then, we propose a condition for adjusting the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. By designing complex Hurwitz polynomials, we obtain a necessary and sufficient condition for achieving the consensus. Moreover, the discussion is extended to the case of designing convergence rate of consensus. Numerical examples are provided to illustrate the condition and the design conditions.
AB - We consider a consensus control problem for a set of three-link manipulators connected by digraphs. Assume that the control inputs of each manipulator are the torques on its links and they are generated by adjusting the weighted difference between the manipulator’s states and those of its neighbor agents. Then, we propose a condition for adjusting the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. By designing complex Hurwitz polynomials, we obtain a necessary and sufficient condition for achieving the consensus. Moreover, the discussion is extended to the case of designing convergence rate of consensus. Numerical examples are provided to illustrate the condition and the design conditions.
KW - Complex Hurwitz polynomials
KW - Consensus algorithms
KW - Consensus rate
KW - Graph Laplacian
KW - Three-link manipulators
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U2 - 10.1007/s10846-019-01032-y
DO - 10.1007/s10846-019-01032-y
M3 - Article
AN - SCOPUS:85065529345
VL - 97
SP - 3
EP - 15
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
SN - 0921-0296
IS - 1
ER -