Adaptive position feedback consensus of networked robotic manipulators with uncertain parameters and communication delays

• Published in: IET control theory & applications Vol. 9; no. 13; pp. 1956 - 1963
• Main Authors: Wang, Lijiao, Meng, Bin
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 27.08.2015
• Subjects: adaptive control; communication delays; control system synthesis; Control theory; convergence; Delay; delays; distributed adaptive position feedback control scheme design; distributed sliding observer; dynamic uncertainties; Dynamics; feedback; Feedback control; information topology; Lyapunov methods; Lyapunov stability analysis tool; Manipulators; multi‐robot systems; networked control systems; networked robotic manipulators; observers; position control; Robot arms; robotic agents; Robotics; stability; Stability analysis; time delays; uncertain parameters; convergence; manipulators; uncertain parameters; multi-robot systems; control system synthesis; adaptive control; networked robotic manipulators; time delays; dynamic uncertainties; distributed adaptive position feedback control scheme design; feedback; Lyapunov stability analysis tool; delays; distributed sliding observer; information topology; networked control systems; position control; communication delays; stability; observers; robotic agents; Lyapunov methods
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2014.1125

In this study, the authors address the leaderless consensus problem of multiple robotic manipulators with communication delays. Taking dynamic uncertainties of the robotic agents into consideration, they perform the distributed adaptive position feedback control scheme design for strongly connected information topology, where the communication is subject to constant and bounded time delays. The novel distributed sliding observer is first proposed such that the joint velocities can be estimated online. Then, the distributed adaptive controller with dynamic parameter updating is constructed based on the observed information. The convergence of consensus errors is proved with Lyapunov stability analysis tool. Finally, simulations are performed on networked robotic manipulators to validate the effectiveness of the theoretical approach.