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arXiv · 1607.07543

Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches

Ming-Feng Ge·Zhi-Hong Guan·Chao Yang·Chao-Yang Chen·Ding-Fu Zheng·Ming Chi
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Abstract

This paper studies the task-space coordinated tracking of a time-varying leader for multiple heterogeneous manipulators (MHMs), containing redundant manipulators and nonredundant ones. Different from the traditional coordinated control, distributed controller-estimator algorithms (DCEA), which consist of local algorithms and networked algorithms, are developed for MHMs with parametric uncertainties and input disturbances. By invoking differential inclusions, nonsmooth analysis, and input-to-state stability, some conditions (including sufficient conditions, necessary and sufficient conditions) on the asymptotic stability of the task-space tracking errors and the subtask errors are developed. Simulation results are given to show the effectiveness of the presented DCEA.

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Ming-Feng Ge, Zhi-Hong Guan, Chao Yang, Chao-Yang Chen, Ding-Fu Zheng, Ming Chi. 2016-07-26. Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches. https://doi.org/10.1016/j.jfranklin.2016.06.025

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