Composite cooperative synchronization and decentralized learning of multi-robot manipulators with heterogeneous nonlinear uncertain dynamics

• Published in: Journal of the Franklin Institute Vol. 356; no. 10; pp. 5049 - 5072
• Main Authors: Dong, Xiaonan, Yuan, Chengzhi, Stegagno, Paolo, Zeng, Wei, Wang, Cong
• Format: Journal Article
• Language: English
• Published: Elmsford Elsevier Ltd 01.07.2019; Elsevier Science Ltd
• Subjects: Adaptive control; Adaptive learning; Computer simulation; Controllers; Feedback control; Learning; Manipulation; Manipulators; Multiple robots; Nonlinear dynamics; Nonlinear systems; Robot arms; Robots; Stability analysis; Synchronism

This paper studies the problem of composite synchronization and learning of multiple coordinated robot manipulators subject to heterogeneous nonlinear uncertain dynamics under the leader-follower framework. A new two-layer distributed adaptive learning control scheme is proposed, which consists of t...