Coordinated Tracking Control of Fractional-Order Multi-Manipulator System Based on State Observer

In this paper, the problem that it is difficult to measure the state components of the follower manipulator in the fractional-order multi-manipulator system is studied. A nonlin-ear state observer is designed to estimate the state components of the follower manipulator by using the system output. LMIs are used to solve the parameters of the observer and control al-gorithm. The sufficient condition for achieving the leader-following consensus of the system is obtained by using Lyapunov stability theory. Finally, the validity of the theoretical results is validated by numerical simulations.