Synchronization control for multiple heterogeneous robotic systems with parameter uncertainties and communication delays |
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| Institution: | 1. Department of Mathematics, School of Science, Dalian Maritime University, Dalian, Liaoning 116026, PR China;2. College of Transportation Engineering, Dalian Maritime University, Dalian, Liaoning 116026, PR China;3. Teaching and Research Office of Mathematics, Department of Basics, PLA Dalian Naval Academy, Dalian, Liaoning 116018, PR China;4. School of Mathematics and Information Science, Shandong Institute of Business and Technology, Yantai 264005, PR China;5. Department of Mathematics and Statistics, Curtin University, Perth, WA 6102, Australia;6. The Coordinated Innovation Center for Computable Modeling in Management Science, Tianjin University of Finance and Economics, Tianjin 300222, China;7. School of Mathematical Sciences, Dalian University of Technology, Dalian, Liaoning 116024, PR China;8. School of Life Science and Biotechnology, Dalian University of Technology, Dalian, Liaoning 116024, PR China;1. School of Mathematics and Physics, University of Science and Technology Beijing, Beijing 100083, China;2. Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China;3. College of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China;1. Department of Mathematics, Washington College, 300 Washington Avenue, Chestertown, MD 21620-5129, United States;2. Université Polytechnique Hauts-de-France, LAMIH, CNRS UMR 8201, Valenciennes 59313, France;1. Department of Automation, Zhejiang University of Technology, Hangzhou 310032, PR China;2. Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117576, Singapore |
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| Abstract: | This paper investigates synchronization of multiple heterogeneous robotic systems (MHRSs) in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. We develop two classes of adaptive sliding-mode controllers to deal with the aforementioned problem based on directed graphs containing a directed spanning tree, which relaxes the constraints on the interaction topologies. Furthermore, by invoking techniques of Lyapunov and input-output stability theories, we obtain the sufficient conditions on asymptotic stability of MHRSs. Thus, the position and velocity synchronization errors can asymptotically converge to the origin. Finally, numerous simulations are carried out to demonstrate the validity and advantages of the theoretical results. |
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