Non-fragile consensus control of networked robotic manipulators with topology-dependent memory
ISSN: 0144-5154
Article publication date: 5 October 2018
Issue publication date: 6 December 2018
Abstract
Purpose
The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent memory.
Design/methodology/approach
This paper proposes a topology-dependent memory protocol with distributed consensus controllers for multiple networked robotic manipulators.
Findings
The distributed controller gain fluctuations are taken into account with sampled data information exchanges. By the derived results of model transformation, the topology-dependent memory protocol is investigated using sufficient consensus criteria in the form of linear matrix inequalities.
Originality/value
A novel consensus protocol with topology-dependent memory is designed, which can potentially improve consensus performance and deal with the controller gain fluctuations of the robotic manipulators in practical applications.
Keywords
Acknowledgements
Funding: This work was supported by the National Natural Science Foundation of China under Grant 61703038, 61627808 and 9164820, and the National Key Research and Development Program of China under Grant SQ2017YFB130092.
Citation
Ma, C., Li, R. and Qiao, H. (2018), "Non-fragile consensus control of networked robotic manipulators with topology-dependent memory", Assembly Automation, Vol. 38 No. 5, pp. 625-634. https://doi.org/10.1108/AA-01-2018-001
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited