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Liang, Xinwu; Wang, Hesheng; Liu, Yun-Hui; Chen, Weidong; Hu, Guoqiang; Zhao, Jie
IEEE transactions on cybernetics, 2016-Oct., 2016-Oct, 2016-10-00, 20161001, Volume: 46, Issue: 10Journal Article
In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.
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