Distributed Adaptive Angle Tracking Consensus and Vibration Control of Multiple Flexible Manipulator With Input Quantization

In this work, we solve the joint angle tracking consensus and vibration control problem of multiple flexible manipulator system modeled by PDE-ODEs with unknown time-varying boundary disturbance and input quantization. Firstly, we develop a fully distributed finite-time observer to estimate the time-varying virtual leader whose angle is equal to the desired consensus angle. Then, in order to eliminate the quantization errors, compensate the unknown disturbance, achieve angle tracking consensus and suppress elastic vibration, a novel distributed adaptive boundary control scheme is introduced. Besides, the uniformly ultimately boundedness of the vibration and angle tracking consensus error is verified by Lyapunov stability theory. Finally, some simulations are presented to illustrate the effectiveness of the proposed control method.