Synchronization of robotic manipulators with kinematic and dynamic uncertainties over delayed communication network

This paper addresses the control problem for networked robotic manipulators to achieve task-space synchronization with uncertainties in kinematic and dynamic models. Since most of the previous results focused on such systems over an undirected topology without considering communication delays, in this paper we develop controller for networked robots to achieve synchronization in the presence of time delays. If robots exchange their output signals over a strongly connected topology, then the proposed control system is proven to be stable with guaranteed position and velocity synchronization in task space. Additionally, the synchronization problem is also studied in this paper when the interconnection topology is time-varying with constant delays. Simulation results are presented to demonstrate the performance of the proposed control system.