Output feedback synchronization of multiple robot systems under parametric uncertainties


Çiçek E. , Daşdemir J.

TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, cilt.39, ss.277-287, 2017 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 39
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1177/0142331216649025
  • Dergi Adı: TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
  • Sayfa Sayısı: ss.277-287

Özet

In this paper, we propose a novel cooperative control scheme that solves the position synchronization problem of multiple robot manipulators, under parametric uncertainties, in the case when only position measurements are available. The synchronization controller, adaptation law and the filter that generates a velocity-related signal from the position tracking error are designed via a Lyapunov-based stability analysis. It is shown that the proposed method guarantees semi-global asymptotic convergence of the position synchronization error. The simulation results on five robot manipulators ensure the feasibility of the filter/controller mechanism.