Leaderless and Non-static Position Consensus Algorithm for Multi-manipulator Systems Under Undirected Communication Topology

This paper focuses on the non-static position consensus problem of the multi-manipulator system. Under the undirected communication topology, the leaderless and non-static position consensus algorithm is proposed for the multi-manipulator system, which eventually makes manipulators to achieve consistent positions and constant velocities. Based on the graph theory and the Matrosov's theorem, it is proved that the system can achieve a state consensus. Finally, the numerical simulation based on the planar two-link manipulators system is performed to verify the validity of the control protocol.