Non-fragile consensus control of networked robotic manipulators with topology-dependent memory

Purpose: The purpose of this paper is to solve the non-fragile consensus problem of networked robotic manipulators over communication networks by using information from topology-dependent memory. Design/methodology/approach: This paper proposes a topology-dependent memory protocol with distributed consensus controllers for multiple networked robotic manipulators. Findings: The distributed controller gain fluctuations are taken into account with sampled data information exchanges. By the derived results of model transformation, the topology-dependent memory protocol is investigated using sufficient consensus criteria in the form of linear matrix inequalities. Originality/value: A novel consensus protocol with topology-dependent memory is designed, which can potentially improve consensus performance and deal with the controller gain fluctuations of the robotic manipulators in practical applications.