Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements

Abstract

In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.

Synchronized adaptive control for coordinating manipulators with time‐varying actuator constraint and uncertain dynamics

“…Remark It is notable that cooperative synchronization control for robotic agents is also investigated in literature, where the work of Liu and Chopra is for joint‐space synchronization and the works of Liang et al, Liu and Chopra, and Wang are for task‐space cooperative synchronization under various system uncertainties. From Theorem and the above analysis, it can be obtained that the proposed cooperative synchronization control for robotic agents with communication time delays is based on image space, in which case, the unknown actuator constraint and system uncertainties are also considered.…”

“…In this study, the problem of cooperative visual servoing robot control is considered for networked manipulators with actuator constraints and system uncertainties on a strongly connected graph. More contributions are epitomized as follows: Compared to the works on cooperative control for robotic agents, cooperative visual servoing control for networked manipulators is explicitly investigated, extending the synchronous scheme from task space to image space. In the control design for image‐space synchronization, nonuniform time delays among the visual servoing robotic agents are particularly taken into consideration.…”

Adaptive cooperative control of networked uncalibrated robotic systems with time‐varying communicating delays

“…Remark Compared with, the reference velocities proposed in this paper includes delay‐rate dependent gains on the mutual coupling term. The introducing of these gains is one of the critical points to ensure the performance in the presences of time‐varying delays.…”

“…However, from Equation 19 in the study of Wang and Equation 11 in the study of Liang et al, it is not hard to see that only constant communicating delays can be well settled. To address the time‐vary delay problem, which is also a common phenomenon in networked systems, Liu and Chopra present a cooperative tracking controller where the networked robotic system can cope with time‐varying delays (see Equation 22).…”

“…To address such problem, some schemes are proposed for the independent robot system visual servoing control . As for the networked robotic system, Liang et al design an observer to estimate the velocities and the estimates that are to replace the actual velocities obtained from the numerical differentiation.…”