Multiple symmetric task control for networked robot systems over switching network topology

This article addresses the multiple symmetric task control issue of networked robot systems modeled by the Euler-Lagrange equation under a switching communication network topology. A distributed coordinated control protocol is presented with the aid of multiple virtual leaders. Based on the special structure of the network topology, some geometric convergence criteria under which the network can realize multiple symmetric consensus is given. Finally, two simulations conducted on seven two-link revolute arms and eleven mass agents are proposed to illustrate our design, respectively.