Task-Space Synchronization of Networked Robotic Systems With Uncertain Kinematics and Dynamics

Abstract

In this technical note, we investigate the task-space synchronization for networked robots interconnected on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design for networked robotic systems. Under this framework, we propose an adaptive task-space synchronization scheme with indirect/direct kinematic parameter adaptations and a direct dynamic parameter adaptation for the networked robots. We employ the passive decomposition approach to show the asymptotic task-space synchronization of the networked system, and we demonstrate that the proposed control is capable of ensuring the weighted average consensus of the networked uncertain robots. Simulation results are provided to demonstrate the performance of the proposed control approach.