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- W2461026323 abstract "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." @default.
- W2461026323 created "2016-07-22" @default.
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- W2461026323 date "2016-10-01" @default.
- W2461026323 modified "2023-10-14" @default.
- W2461026323 title "Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements" @default.
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- W2461026323 doi "https://doi.org/10.1109/tcyb.2015.2477606" @default.
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