Consensus control of multi?manipulator systems based on disturbance observer under Markov switching topologies

In this paper, to solve the consensus control problem of multi-manipulator systems under Markov switching topologies, we propose a distributed consensus control strategy based on disturbance observer. In multi-manipulator systems, external disturbance described by heterogeneous exogenous systems is considered, and all communication topologies are directed. First, a disturbance observer is presented to suppress the influence of unknown external disturbance, and the equivalent compensation is introduced into the control protocol in multi-manipulator systems. Then, a novel control protocol based on neighbor information is designed, which guarantees that multi-manipulator systems reach consensus under Markov switching topologies. Finally, two simulation examples verify the validity of the theoretical result.