Global output feedback control for multiple robotic manipulators

This paper investigates the global output feedback tracking control problem for multiple robotic manipulators. Firstly, the global nonsingular coordinate transformation to obtain a partially linear system is provided based on the solution of a set of partial differential equations. Then, a new class of velocity observers is designed to estimate the unmeasurable velocities for each system. By employing the estimators, we propose distributed control laws such that the UGAS (uniform global asymptotic stability) is achieved. The theoretical results are further validated by numerical simulations.

[1]  Jean-Claude Vivalda,et al.  Transformation Synthesis for Euler-Lagrange Systems , 2007 .

[2]  Nazareth Bedrossian,et al.  Linearizing coordinate transformations and Riemann curvature , 1992, [1992] Proceedings of the 31st IEEE Conference on Decision and Control.

[3]  M. Mabrouk,et al.  Triangular form for Euler–Lagrange systems with application to the global output tracking control , 2010 .

[4]  Yi Dong,et al.  Leader-following consensus with connectivity preservation of uncertain Euler-lagrange multi-agent systems , 2014, 53rd IEEE Conference on Decision and Control.

[5]  Gildas Besancon,et al.  Global output feedback tracking control for a class of Lagrangian systems , 2000, Autom..

[6]  Guangfu Ma,et al.  Distributed adaptive coordination for multiple Lagrangian systems under a directed graph without using neighbors' velocity information , 2013, Autom..

[7]  Antonio Loría,et al.  Uniform global position feedback tracking control of mechanical systems without friction , 2013, 2013 American Control Conference.

[8]  Gang Chen,et al.  Cooperative controller design for synchronization of networked uncertain Euler–Lagrange systems , 2015 .

[9]  Antonio Loria,et al.  Observer-less Output Feedback Global Tracking Control of Lossless Lagrangian Systems , 2013, 1307.4659.

[10]  Hanlei Wang,et al.  Passivity based synchronization for networked robotic systems with uncertain kinematics and dynamics , 2013, Autom..

[11]  Zhong-Ping Jiang,et al.  A global output-feedback controller for simultaneous tracking and stabilization of unicycle-type mobile robots , 2004, IEEE Transactions on Robotics and Automation.

[12]  Guangfu Ma,et al.  Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph , 2012, Autom..

[13]  Hao Fang,et al.  Distributed observer-based coordination for multiple Lagrangian systems using only position measurements , 2014 .

[14]  Rob Dekkers,et al.  Control of Robot Manipulators in Joint Space , 2005 .

[15]  Haibo Ji,et al.  Robust consensus tracking for a class of heterogeneous second‐order nonlinear multi‐agent systems , 2015 .

[16]  Ziyang Meng,et al.  Leader–Follower Coordinated Tracking of Multiple Heterogeneous Lagrange Systems Using Continuous Control , 2014, IEEE Transactions on Robotics.

[17]  Zhiguo Liu,et al.  Distributed adaptive consensus for multiple mechanical systems with switching topologies and time-varying delay , 2014, Syst. Control. Lett..

[18]  M. Spong,et al.  Robot Modeling and Control , 2005 .