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

作     者：Chang-E Ren Quanxin Fu Chang-E Ren;Quanxin Fu

作者机构：College of Information EngineeringCapital Normal UniversityBeijing100089China 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2021年第19卷第2期

页      面：273-282页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：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) Key Research Grant of Academy for Multidisciplinary Studies of CNU(No.JCKXYJY2019018) 

主　　题：Multi-manipulator systems Disturbance observer Markov switching topologies Consensus control 

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 *** multi-manipulator systems,external disturbance described by heterogeneous exogenous systems is considered,and all communication topologies are ***,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 ***,a novel control protocol based on neighbor information is designed,which guarantees that multi-manipulator systems reach consensus under Markov switching ***,two simulation examples verify the validity of the theoretical result.