Consensus of multiple manipulators with elastic joints under a directed graph
祥正 孟, 爱国 吴, 杰 梅, 广富 马 · Scientia Sinica Informationis · 2022
We investigate the consensus problem of multiple manipulators with elastic joints under a directed graph in this paper. We use model reference adaptive consensus to transform the consensus problem into two subproblems: reference model consensus and trajectory tracking for a single manipulator. We then propose a linear reference model without relative velocity information because determining relative joint angular velocity information among agents is difficult. We finally develop a trajectory tracking algorithm based on the backstepping method and demonstrate that the joint angles of the manipulators asymptotically achieve consensus.