Consensus control of flexible joint robots with uncertain communication delays

Synchronization of networks composed by fully-actuated Lagrangian systems has received a lot of attention from the control theory community. Unfortunately, the case of networks composed by under-actuated systems of the same kind has not been deeply studied and the related literature is very reduced. The aim of this paper is to contribute towards the establishment of a control scheme for this class of networks by solving the particular case of a network composed by agents defined by Flexible-joint robots. The proposed schemes consider the presence of unknown delays in the communication channels. The usefulness of the controllers is validated through numerical simulations.