Cascade framework for task-space synchronization of networked robots with uncertain kinematics and dynamics

Abstract

In this paper, we investigate the task-space synchronization for networked robots on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design. Under this framework, we propose an adaptive task-space synchronization scheme with an indirect kinematic parameter adaptation and a direct dynamic parameter adaptation for the networked robots. Passivity decomposition transformation is adopted to show the synchronization of the networked robotic systems. Simulation results are provided to demonstrate the performance of the proposed adaptive networked controller.