Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics |
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| Authors: | Dongya Zhao Shaoyuan Li Quanmin Zhu |
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| Affiliation: | 1. College of Chemical Engineering, China University of Petroleum, Qingdao, China;2. State Key Laboratory of Heavy Oil Research, China University of Petroleum, Qingdao, China;3. Institute of Automation, Shanghai Jiao Tong University, Shanghai, China;4. Bristol Institute of Technology, University of the West of England, Bristol, UK |
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| Abstract: | In this study, a new adaptive synchronised tracking control approach is developed for the operation of multiple robotic manipulators in the presence of uncertain kinematics and dynamics. In terms of the system synchronisation and adaptive control, the proposed approach can stabilise position tracking of each robotic manipulator while coordinating its motion with the other robotic manipulators. On the other hand, the developed approach can cope with kinematic and dynamic uncertainties. The corresponding stability analysis is presented to lay a foundation for theoretical understanding of the underlying issues as well as an assurance for safely operating real systems. Illustrative examples are bench tested to validate the effectiveness of the proposed approach. In addition, to face the challenging issues, this study provides an exemplary showcase with effectively to integrate several cross boundary theoretical results to formulate an interdisciplinary solution. |
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| Keywords: | adaptive control synchronised control multiple robotic manipulators kinematic uncertainty dynamic uncertainty |
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