Leader-Follower Consensus of Robotic Manipulators in Task Space with Uncertainties and Varying Communication Delays

摘要

This paper investigates leader-follower consensus of multiple robotic manipulators in the task space, subject to kinematic and dynamic uncertainties, time-varying communication delays and absence of task-space velocity measurements. Observers on task-space positions and adaptive laws on uncertain kinematic parameters are constructed such that the task-space velocities are not required in the controller design. Based on these observers, a set of filters are constructed to facilitate controller design and to deal with time-varying communication delays. The dynamic uncertainties are resolved by the corresponding adaptive updating laws.