Designing Consensus Algorithms for Three-Link Manipulators

Guisheng Zhai, Satoshi Nakamura, Mardlijah

Research output: Contribution to journalConference articlepeer-review


We deal with a consensus control problem for a group of three-link manipulators which are networked by digraphs. Assuming that the control inputs of each manipulator are the torques on its links and they are constructed based on weighted difference between its states and those of its neighbor agents, we aim to propose an algorithm on computing the weighting coefficients in the control inputs, so that full consensus is achieved among the manipulators. The control problem is reduced to designing Hurwitz polynomials with complex coefficients. We show that by using Hurwitz polynomials with complex coefficients, a necessary and sufficient condition is obtained for designing the consensus algorithm. 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 algorithms.

Original languageEnglish
Article number012017
JournalJournal of Physics: Conference Series
Issue number1
Publication statusPublished - 31 May 2019
Event3rd International Conference on Mathematics; Pure, Applied and Computation, ICoMPAC 2018 - Surabaya, Indonesia
Duration: 20 Oct 2018 → …


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