Open AccessConsensus Control for a Network of Multiple Elastic Joints Robots with Algebraic Riccati Equation (Are)
Author(s) -
Ahmad Sadhiqin Mohd Isira,
N.S. Hamdan,
Wei Yan,
Mohd Hendra Hairi
Publication year - 2019
Publication title -
international journal of recent technology and engineering
Language(s) - English
Resource type - Journals
ISSN - 2277-3878
DOI - 10.35940/ijrte.c1038.1083s219
Subject(s) - control theory (sociology) , lipschitz continuity , algebraic riccati equation , riccati equation , nonlinear system , controller (irrigation) , robot , state (computer science) , algebraic number , consensus , protocol (science) , computer science , multi agent system , control (management) , mathematics , control engineering , engineering , artificial intelligence , algorithm , partial differential equation , pure mathematics , mathematical analysis , medicine , physics , alternative medicine , quantum mechanics , pathology , agronomy , biology
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.