Adaptive task-space synchronisation of networked robotic agents without task-space velocity measurements

作者：Wang Lijiao^*; Meng Bin; Wang Hanlei

来源：International Journal of Control, 2014, 87(2): 384-392.

DOI：10.1080/00207179.2013.835173

• task-space synchronisation
• robotic agents
• decentralised observer
• adaptive controller

In this paper, we investigate the problem of task-space synchronisation of multiple robotic agents in the presence of uncertain kinematics and dynamics. Our control objective is to realise synchronisation without the measurements of task-space velocity. The communication topology is assumed to be directed graphs containing a spanning tree. A decentralised task-space observer with kinematic parameter updating is proposed to avoid the reliance of task-space velocity. Based on the observer, we propose the distributed adaptive synchronisation controller for two cases: (1) the leaderless consensus case and (2) the leader-follower case, where all the followers track the convex hull spanned by the virtual leaders and for each follower, it is required that there exists at least one leader that has a directed path to the follower. The asymptotic synchronisation is proved with Lyapunov analysis and input-output stability analysis tools. Simulations with multiple robotic agents are performed to show the effectiveness of the proposed schemes.

• 出版日期2014-2-1
• 单位北京控制工程研究所