Robust consensus control for multiple robotic manipulators

Abstract

To deal with the uncertainty and leader-follower synchronization of multiple robotic manipulators system (MRMS), a distributed robust consensus controller is proposed based on undirected graph theory, which describes the information change among the MRMS. The corresponding stability of the proposed controller is proven by the Lyapunov method. Simulations conducted on a MRMS indicate the capabilities of the algorithms.