Adaptive cooperative control of networked uncalibrated robotic systems with time-varying communicating delays

This paper investigates the trajectory tracking control of the networked multimanipulator with the existence of time-varying delays and uncertainties in both kinematics and dynamics. To address time-varying delays in the communication links, a novel control scheme is established by the design of delay-rate-dependent networking mutual coupling strengths. Besides, to handle the kinematic and dynamic uncertainties, an adaptive controller is designed. The proposed control scheme guarantees that the networked robotic system can track a commonly desired trajectory cooperatively with the strongly connected communication graph, uncertainties, and time-varying communicating delays. A Lyapunov-Krasovskii functional is employed to rigorously prove the asymptotic convergence of both tracking errors and synchronization errors. The simulation results are provided to verify the effectiveness of the control method proposed by this paper.