Task-space tracking control of multi-robot systems with disturbances and uncertainties rejection capability

This paper investigates the task-space tracking control problem for multi-robot systems in the presence of uncertain kinematics and dynamics. Two classes of control schemes are developed to address the aforementioned problem with nonredundant and redundant kinematics and input disturbances. Particularly, the property of separating of kinematic and dynamic loops is obtained by the proposed controllers, which include a control law, a kinematic parameter adaptive law and a dynamic parameter adaptive law, respectively. Moreover, by using passivity approaches, the system is proved to be passive with the external forces, applied on the end effectors, be the input signals. Consequently, the tracking errors asymptotically converge to the origin under interaction constraints, i.e., the graph is directed, and only a subset of slave robots can access the information of the master robot. Finally, numerous simulations are performed to demonstrate the validity of the theoretical results.