On the adaptive control of robot manipulators
International Journal of Robotics Research
Composite adaptive control of robot manipulators
Automatica (Journal of IFAC)
Robot Dynamics and Control
Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties
International Journal of Robotics Research
Brief paper: Region-based shape control for a swarm of robots
Automatica (Journal of IFAC)
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space
IEEE Transactions on Robotics
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This paper investigates the problem of synchronization of networked robotic systems with uncertainties in both kinematics and dynamics. Passivity of the robotic agents is established through adaptation to both the kinematic and dynamic uncertainties. This input-output passivation framework provides the basis for the inter-coupling inclusion between the robotic agents, even in the case of non-uniform constant communication delays. An adaptive scheme is proposed to achieve controlled synchronization of the networked robotic systems on strongly connected graphs. With a weighted Lyapunov-Krasovskii function, we show that both the task-space tracking errors and synchronization errors of the networked robotic agents converge to zero. Simulation results are provided to demonstrate the performance of the proposed control scheme.