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Updated: Mar 1, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Robust consensus tracking control of multiple mechanical systems under fixed and switching interaction topologies.

Jianhui Liu¹, Bin Zhang²

¹School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing 100876, P.R. China.

|May 26, 2017

Summary

This study introduces a robust distributed tracking algorithm for multiple mechanical systems with limited communication. The method effectively handles external disturbances and unknown dynamics in both fixed and switching interaction topologies.

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Area of Science:

Robotics
Control Systems Engineering
Networked Mechanical Systems

Background:

Coordinated control of multiple mechanical systems is crucial for complex tasks.
Limited communication and partial trajectory information present significant challenges in distributed systems.
Existing methods often struggle with external disturbances and dynamic uncertainties.

Purpose of the Study:

To develop a robust distributed tracking algorithm for multi-agent mechanical systems.
To address consensus tracking under limited communication and partial information availability.
To extend the algorithm for both fixed and switching interaction topologies.

Main Methods:

A distributed tracking algorithm based on the computed torque approach.
Development of a robust feedback term for disturbance and uncertainty estimation.
Application of Lyapunov stability theory for analysis under switching topologies.

Main Results:

The proposed algorithm ensures robust consensus tracking despite external disturbances and unknown agent dynamics.
The method is validated for fixed interaction topologies.
Effectiveness is demonstrated for switching interaction topologies with proven sufficient conditions.

Conclusions:

The developed distributed tracking algorithm provides a robust solution for multi-agent mechanical systems.
The approach effectively manages communication limitations and partial information.
The method's applicability is confirmed through simulations in various scenarios.