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Leader–follower and leaderless consensus in networks of flexible-joint manipulators

Abstract : This work presents some first results on the consensus for networks of nonlinear under-actuated mechanical systems without assuming that the gravity effects are negligible or locally pre-compensated. In particular, the study is focused on networks composed of nonidentical flexible-joint robot manipulators. Through a straightforward Lyapunov stability analysis, it is established that a simple control law provides a solution to the leader–follower consensus problem, provided that at least one follower has a direct access to the leader׳s position, and to the leaderless consensus problem. The network is modeled as an undirected graph and the network interconnection can have variable time-delays. The proposed controller consists of two different terms, one that dynamically compensates the robot gravity and another which ensures the desired consensus objective. This last term is a simple Proportional plus damping scheme. Simulations, using a network with ten manipulators, and experiments, with three 3 degrees-of-freedom manipulators, are provided to support the theoretical contributions of this work.
Keywords : Network of robots
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Contributor : Pascale Lepeltier <>
Submitted on : Tuesday, May 26, 2015 - 9:16:57 AM
Last modification on : Monday, December 14, 2020 - 12:38:07 PM




Emmanuel Nuño, Daniela Valle, Ioannis Sarras, Luis Basañez. Leader–follower and leaderless consensus in networks of flexible-joint manipulators. European Journal of Control, Elsevier, 2014, 20 (5), pp.249-258. ⟨10.1016/j.ejcon.2014.07.003⟩. ⟨hal-01155048⟩



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