Consensus Control for a Network of Multiple Elastic Joints Robots with Algebraic Riccati Equation (Are)
A. S. M. Isira1, N. S. Hamdan2, W. C. Yan3, Hairi. M. H4
1A. S. M. Isira, Fakulti Kejuruteraan Elektronik Dan Kejuruteraan Komputer Universiti Teknikal Malaysia.
2N.S.Hamdan, Fakulti Kejuruteraan Elektronik Dan Kejuruteraan Komputer Universiti Teknikal Malaysia.
3W. C. Yan, School of Aerospace Engineering, Beijing Institute of Technology Beijing, China.
4M. H. Hairi, Fakulti Kejuruteraan Elektik, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
Manuscript received on 18 November 2019 | Revised Manuscript received on 04 December 2019 | Manuscript Published on 10 December 2019 | PP: 202-206 | Volume-8 Issue-3S2 October 2019 | Retrieval Number: C10381083S219/2019©BEIESP | DOI: 10.35940/ijrte.C1038.1083S219
Open Access | Editorial and Publishing Policies | Cite | Mendeley | Indexing and Abstracting
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper deals with the leader-follower consensus problem of Lipschitz nonlinear systems under fixed directed communication networks specifically for multiple Elastic Joints Robots. A State-feedback consensus controller is proposed for the system, based on state and output measurements of neighbouring agents, respectively. The controller gain is obtained with Algebraic Riccati Equation (ARE) protocol. An example is included to demonstrate the effectiveness of the state consensus controller. It can be shown that both controllers are stable and able to reach consensus for the system despite the influence of the nonlinear Lipschitz element from the robot.
Keywords: Lipschitz; Nonlinear; Controller; Stability.
Scope of the Article: Robotics Engineering