Mutual Synchronization of Multiple Robot Manipulators with Unknown Dynamics
作者： Rongxin Cui , Weisheng Yan
DOI: 10.1007/S10846-012-9674-9
关键词:
摘要: In this paper, we investigate the mutual synchronization control problem of multiple robot manipulators in case that desired trajectory is only available to a portion team members, and dynamics external disturbances are unknown. Treating weighted average outputs neighbors as reference trajectory, an adaptive neural network (NN) tracking designed for each manipulator. Based on Lyapunov analysis, rigid mathematical proof provided proposed algorithm both state feedback output cases. It shown that, under NN control, error manipulator converges adjustable neighborhood origin. Simulations demonstrate effectiveness approach.
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