A Unified Approach to Consensus Control of Three-Link Manipulators

Guisheng Zhai*, Satoshi Nakamura, Mardlijah

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


We consider a consensus control problem for a set of three-link manipulators connected by digraphs. Assume that the control inputs of each manipulator are the torques on its links and they are generated by adjusting the weighted difference between the manipulator’s states and those of its neighbor agents. Then, we propose a condition for adjusting the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. By designing complex Hurwitz polynomials, we obtain a necessary and sufficient condition for achieving the consensus. Moreover, the discussion is extended to the case of designing convergence rate of consensus. Numerical examples are provided to illustrate the condition and the design conditions.

Original languageEnglish
Pages (from-to)3-15
Number of pages13
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number1
Publication statusPublished - 1 Jan 2020


  • Complex Hurwitz polynomials
  • Consensus algorithms
  • Consensus rate
  • Graph Laplacian
  • Three-link manipulators


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