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This paper addresses the adaptive synchronization problem of networked mechanical systems in task space with time-varying communication delays, where both kinematic and dynamic uncertainties are considered and the information flow in the networks is represented by a directed graph. Based on a novel coordination auxiliary system, we first extend existing feedback architecture to achieve synchronization...
This paper considers coordinated path following of multiple underactuated unmanned surface vehicles (USVs) subject to dynamical uncertainties and limited control torques. The objective is to achieve a symmetric formation pattern over a closed curve. Adaptive coordinated path following controllers are developed by combing a parameter cyclic pursuit approach, a line-of-sight guidance principle, and...
This paper addresses adaptive synchronization control problem of networked robot systems characterized by Lagrangian function, where exact dynamic models are unknown and velocity measurements are unavailable. A class of distributed observers, comprised of multiple dynamic variables and static variables, are established based on not imposing a priori restriction on the boundness of the observer states...
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