Synchronization of multi-robot manipulators based on high order sliding mode control

Abstract

In this work, a synchronizing robust control approach is presented for the control of a multiple robot manipulators mouvements. The high order Sliding Mode Control(SMC) design is the base of this approach which is associated with the cross-coupling synchronization concept, whose aim is to ensure a performing trajectory tracking control whilst guaranteeing the movement synchronization of different system agents. Simulation results prove the efficiency of the proposed approach in realizing desired and unified tasks of the coordinated multi-robot system.