Adaptive output feedback consensus of networked robotic manipulators with uncertain parameters and communication delays
作者： Wang Lijiao , Meng Bin
DOI: 10.1109/ICINFA.2014.6932793
关键词:
摘要: In this paper, we address the leaderless consensus problem of multiple robotic manipulators with communication delays. Taking dynamic uncertainties agents into consideration, perform distributed adaptive output feedback control scheme design for strongly connected information topology, where is subject to constant and bounded time The novel sliding observer first proposed such that joint velocities can be estimated online. Then, controller parameter updating constructed based on observed information. convergence errors proved Lyapunov stability analysis tool. Finally, simulations are performed networked validate effectiveness theoretical approach.
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