Consensus Control for Networked Manipulators With Switched Parameters and Topologies

To solve abruptly occurrence of parameters jumping and directed communication topologies changing in the control process networked manipulators, this paper, distributed switched consensus algorithms are formulated for a group robot manipulators realizing cooperative performance. In fact, Lagrange systems modeled as regarding different topologies. Namely, dynamic models switch when system or topology structures change. The strategy is constructed by resorting to (improved) average dwell time (ADT) method sliding-mode technique, unified analysis methodology developed perform convergence closed-loop Lyapunov stable theory. main contribution paper development systematically adaptive algorithm simultaneously considering shifting switching network (as two unavoidable key factors) interaction among robots. A distinctive feature protocol introduce characterizing local robots, which especially suitable representing features realistic multi-robotic systems. Accordingly, tracking possess prominent advantages including robustness,stability effectiveness over existing concentrated on single counterparts. Finally, numerical simulations two-link performed illustrate obtained algorithm.