A unified inner-/outer-loop distributed design for task-space robust cooperative tracking of uncertain networked manipulators under directed graphs

• Main Authors: Feng, Zhi, Hu, Guoqiang
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Electrical and electronic engineering; Closed Control Architecture; Networked Manipulators
• Online Access: https://hdl.handle.net/10356/162127
• Institution: Nanyang Technological University

This paper investigates task-space cooperative tracking of networked manipulators with an inner-/outer-loop closed control architecture, taking effects of uncertain kinematics, dynamics, disturbances, and unavailable task-space velocities into account. In the existing related works, the developed di...