Distributed Model Reference Adaptive Control for an Uncertain Modular Robotic System

Abstract

A distributed adaptive control design for an uncertain modular robotic system is proposed in this paper. Specifically, a modular robotic system that consists of multiple robot manipulators that are subject to uncertain non-linear robot parameters and robot-based uncertainties is considered. A distributed adaptive control is designed to compensate for uncertain non-linear robot parameters and robot-based uncertainties, closed-loop system stability analysis is shown via Lyapunov stability analysis, and simulation results are provided on a modular system.