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Article Abstract
In this paper, consensus control is investigated for the flexible Timoshenko manipulator agents (FTMAs) system with event-triggered communication. The disturbance observers are initially designed with the purpose of observing the unknown disturbance. Then the distributed estimators are developed to estimate the time-varying target instruction from the leader agent. Simultaneously, the event-triggered strategy is employed to mitigate the communication load between the output signals of all FTMAs within the given communication topology. Based on designed disturbance observers and distributed estimators, and by utilizing the developed control scheme, consensus tracking of the joint angles among the FTMAs is achieved, and the vibration of all flexible manipulators is effectively constrained within a small neighborhood around zero. Finally, numerical simulations are conducted to validate the effectiveness of the control approach.
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| http://dx.doi.org/10.1016/j.isatra.2025.07.040 | DOI Listing |
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