Distributed bounded finite-time cooperative control algorithm for multiple nonlinear manipulators

Yongzheng Cong

doi:10.1002/rnc.7376

Distributed bounded finite-time cooperative control algorithm for multiple nonlinear manipulators

2024-04-18

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DOI：10.1002/rnc.7376

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Abstract

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For the position synchronization control problem of multiple nonlinear manipulator systems, a bounded distributed cooperative controller is designed in this paper. Based on a fixed-time position observer, a distributed finite-time synchronization controller is designed by using the saturated control technique and homogenous system theory. Compared with the existing results, the proposed distributed cooperative control algorithm not only guarantees finite-time convergence but also satisfies the input saturation. Finally, some numerical simulation results are presented to verify the feasibility of the theory results with six-degree-of-freedom robots.

Keywords:

consensus algorithm

distributed control

finite-time control

multiple nonlinear manipulators

Distributed bounded finite-time cooperative control algorithm for multiple nonlinear manipulators

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