Non-linear adaptive synchronisation control of multi-agent robotic systems

摘要

In this article, an internal and an external synchronisation have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronise the movement of robot group tracking the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronisation topology, robot network requires only local neighbour-to-neighbour information exchange between robots. The interaction topology of agents network is represented using an undirected graph. However the objective of the external synchronisation coordinated scheme is to design interconnections and feedback controllers for slaves, such that their positions and velocities synchronise to those of the leader robot. It is assumed that robots in cooperation have the same joints number and equivalent joint work spaces. The proposed adaptive law based on combination of Lyapunov direct method and concepts from cross-coupling control has been developed to guarantee asymptotic convergence to zero of both position and synchronisation errors.