A consensus sliding mode control for trajectory tracking of multiple manipulators

摘要

The paper presents a consensus sliding mode control for trajectory tracking problem of multiple manipulators under the presence of the external disturbance. The proposed method is developed based on the consensus protocol technique and sliding mode control. By using the consensus protocol, the synchronous requirement between manipulators is guaranteed. In addition, the sliding mode control guarantee that the tracking issue is satisfied. A Lyapunov approach is used to analyze the effectiveness of the proposed control in detail. Finally, some simulations are conducted in a robot network which includes two 3-DOF manipulators. The results of the proposed control are compared with the previous control method to verify the efficiency of the proposed control.