ADAPTIVE CONTROLLER FOR GENERAL NETWORKED MANIPULATORS WITH UNCERTAIN DYNAMICS

Abstract

In this paper, two adaptive tracking control algorithms for redundant and non-redundant networked nonidentical robot manipulators are proposed, where the networked topology graph is direct and has a spanning tree.  It is shown that, the distributed feedback controllers can be achieve end-effectors time-varying positions, velocities and sub-task tracking for manipulators with parametric uncertainty in the Lagrange dynamics.  Moreover, the designed distributed tracking control algorithms in this paper is even a small portion of followers can get the leader's position information.  Simulation example is presented to illustrate the performance of the proposed controller.