Coordinated tracking control for a class of fractional multi-manipulator system

In this paper, the concept of fractional-order model is introduced to solve the problem of coordinated tracking control of multi-manipulator systems under a fixed and switching topology, respectively. The control algorithm of the leader-following consensus is adopted, and linear matrix inequality (LMI) is used to acquire the parameters to be designed of the control algorithm. The sufficient conditions for achieving consensus of the fractional-order system are obtained by using Lyapunov stability theory and algebraic graph theory. Finally, the effectiveness of the theoretical results is validated by numerical simulations.