Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics

Zhao, Dongya; Li, Shaoyuan; Zhu, Quanmin

Abstract

© 2014 Taylor & Francis. 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.

• Journal Article Type: Article
• Publication Date: Mar 11, 2016
• Deposit Date: Sep 22, 2015
• Publicly Available Date: Feb 23, 2016
• Journal: International Journal of Systems Science
• Print ISSN: 0020-7721
• Electronic ISSN: 1464-5319
• Publisher: Taylor & Francis
• Peer Reviewed: Peer Reviewed
• Volume: 47
• Issue: 4
• Pages: 791-804
• DOI: https://doi.org/10.1080/00207721.2014.906681
• Keywords: adaptive control, synchronised control, multiple robotic manipulators, kinematic uncertainty, dynamic uncertainty
• Public URL: https://uwe-repository.worktribe.com/output/924806
• Publisher URL: http://dx.doi.org/10.1080/00207721.2014.906681
• Additional Information: Additional Information : This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Systems Science on 10 April 2014, available online: http://wwww.tandfonline.com/10.1080/00207721.2014.906681
• Contract Date: Feb 23, 2016