Non-fragile consensus control of networked robotic manipulators with topology-dependent memory
Chao Ma, Rui Li, Hong Qiao · Assembly Automation · 2018
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.