Task-space cooperative tracking control of multi-robot systems with unknown parameters and time delays

In this paper, the task-space cooperative tracking control problem of multi-robot systems on strongly connected digraphs is studied. To solve such synchronization problem, a novel adaptive control approach is proposed by introducing task-space synchronization errors between neighboring robotic systems into the task-space reference velocity/acceleration. To cope with unknown kinematic and dynamic parameters, adaptive laws are developed without explicitly incorporating synchronization terms. Lyapunov stability theory is used to rigorously prove asymptotical convergence of the task-space synchronization and tracking errors by fully considering the time delays. Finally, simulation results are given to illustrate the performance of the proposed task-space cooperative tracking control approach.