Abstract
This brief deals with the problem of distributed consensus control for networked flexible-joint manipulator systems formulated by Euler-Lagrange (EL) dynamics by using energy-shaping methodology plus damping injection. A novel decentralized controller is proposed to solve the leaderless consensus problems with undirected network topology. The total energy of the systems and the controllers, as a suitable Lyapunov function, are provided to ensure the stability of the closed-loop controlled systems. Subsequently, the simulation result is provided to demonstrate the theoretical result.
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This work is supported by the National Science Foundation of China (Nos. 51875331).
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Zheng, B., Miao, Z., Zhou, J. (2022). Consensus Control in Networked Flexible-Joint Manipulator Systems via Energy Shaping. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 805. Springer, Singapore. https://doi.org/10.1007/978-981-16-6320-8_10
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DOI: https://doi.org/10.1007/978-981-16-6320-8_10
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