Affiliation:
1. Department of Control and Automation Engineering, Yildiz Technical University, Turkey
Abstract
In this paper, we propose a novel cooperative control scheme that solves the position synchronization problem of multiple robot manipulators, under parametric uncertainties, in the case when only position measurements are available. The synchronization controller, adaptation law and the filter that generates a velocity-related signal from the position tracking error are designed via a Lyapunov-based stability analysis. It is shown that the proposed method guarantees semi-global asymptotic convergence of the position synchronization error. The simulation results on five robot manipulators ensure the feasibility of the filter/controller mechanism.
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献