Task-space coordinated tracking of multiple heterogeneous manipulators via controller-estimator approaches
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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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Cited in
(9)- Optimal tracking performance of discrete-time systems with quantization
- Task-space fully distributed tracking control of networked uncertain robotic manipulators without velocity measurements
- A unified inner‐/outer‐loop distributed design for task‐space robust cooperative tracking of uncertain networked manipulators under directed graphs
- Coordinated tracking for networked robotic systems via model-free controller-estimator algorithms
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