Multi-target tracking of networked heterogeneous collaborative robots in task space

This paper investigates the multi-target tracking problem of networked heterogeneous collaborative robots with parametric uncertainties and external disturbances in the task space, where each robot can be kinematic redundant or non-redundant. The acceleration of the targets can either belong to $${\mathcal {L}}_2$$L2 or $${\mathcal {L}}_{\infty }$$L∞ space. A uniform distributed controller–estimator algorithm is designed to solve the aforementioned problem. The sufficient conditions for both zero-error stability and Lagrange stability of the closed-loop system are derived. Finally, simulation examples are illustrated to demonstrate the effectiveness of the main results.