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Distributed adaptive consensus control for networked robotic manipulators with time-varying delays under directed switching topologies

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Abstract

This work focus on consensus control problem for networked multiple robotic manipulators with and without time-varying delays under directed switching topologies. Two different consensus protocols are proposed with considering dynamic uncertainties in networked robotic manipulators. First, we investigate a distributed adaptive consensus algorithm without communication delays under directed switching topologies in networks. A new analysis method for demonstrating the stability of the designed algorithm is provided by constructing a new matrix and utilizing matrix theory, graph theory, Lyapunov stability and Barbalat’s Lemma. Then a consensus controller considering time-varying delays under directed switching topologies is presented. Furthermore, combining with the method for the case without delays, LMI technology is utilized to demonstrate the exponential stability problem. The distributed adaptive consensus control for multiple robotic manipulators with parametric uncertainties, time-varying delays and the directed switching topology is designed and analyzed in a unified framework. Numerical simulations finally prove the validity of the obtained results.

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Acknowledgments

This work was supported by the Natural Science Foundation of China under Grant 61503045, 61703055, 61603121, Excellent Young Talents Foundation of Science Technology Department of Jilin Province under Grant 20180520074JH, Natural Science Foundation of Jilin Province under Grant 20180101333JC, and the Science Research Project of Education Department of Jilin Province under Grant JJKH20191308KJ.

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Authors and Affiliations

  1. College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, China

    Yulian Jiang, Yuhang Zhang & Shenquan Wang

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  1. Yulian Jiang
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  2. Yuhang Zhang
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Correspondence to Yulian Jiang.

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This article is part of the Topical Collection: Special Issue on Networked Cyber-Physical Systems

Guest Editors: Heng Zhang, Mohammed Chadli, Zhiguo Shi, Yanzheng Zhu, and Zhaojian Li

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Jiang, Y., Zhang, Y. & Wang, S. Distributed adaptive consensus control for networked robotic manipulators with time-varying delays under directed switching topologies. Peer-to-Peer Netw. Appl. 12, 1705–1715 (2019). https://doi.org/10.1007/s12083-019-00751-1

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  • DOI: https://doi.org/10.1007/s12083-019-00751-1

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