Adaptive synchronised tracking control for multiple robotic manipulators with uncertain kinematics and dynamics. Issue 4 (11th March 2016)

• Record Type: Journal Article
• Authors: Zhao, Dongya; Li, Shaoyuan; Zhu, Quanmin
• Is Part Of: International journal of systems science. Volume 47:Issue 4(2016)
• Page Start: 791
• Page End: 804
• Publication Date: 2016-03-11
• Subjects: adaptive control -- synchronised control -- multiple robotic manipulators -- kinematic uncertainty -- dynamic uncertainty; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2014.906681
• Languages: English
• ISSNs: 0020-7721

Abstract

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.