Abstract
This paper deals with the leader-follower consensus problem of Lipschitz nonlinear systems under fixed directed communication networks specifically for multiple Elastic Joints Robots. A State-feedback consensus controller is proposed for the system, based on state and output measurements of neighbouring agents, respectively. The controller gain is obtained with Algebraic Riccati Equation (ARE) protocol. An example is included to demonstrate the effectiveness of the state consensus controller. It can be shown that both controllers are stable and able to reach consensus for the system despite the influence of the nonlinear Lipschitz element from the robot.
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