Distributed fuzzy fixed-time consensus control for multiple manipulators system with input deadzone

zhan haoran, qing guo

Abstract:

The multiple manipulator system (MMS) has strong
coupling properties and nonlinearities, which is used to accom-
plish complex cooperation tasks. In this study, a distributed
consensus control algorithm is proposed for uncertain MMS
with input deadzone under a directed communication graph.To
solve the problem of the network congestion exisits in MMS,
an event-triggered mechanism (ETM) is proposed to reduce the
control update frequency and to save communication resource.
Futhermore, a fuzzy logic system is designed to approximate
uncertain dynamics for controller compensation. Based on back-
stepping iteration technique, a fixed-time convergent controller
is presented to guarantee the system state errors convergence to
zero neighborhood in finite time irrelevant to initial state. Finally,
the effectiveness of the proposed control scheme is verified by
sufficient comparative simulation and experimental results.

Submission Number: 42