id: 06106659
dt: j
an: 06106659
au: Cui, Rongxin; Yan, Weisheng
ti: Mutual synchronization of multiple robot manipulators with unknown
    dynamics.
so: J. Intell. Robot. Syst. 68, No. 2, 105-119 (2012).
py: 2012
pu: Springer, Dordrecht
la: EN
cc: 
ut: synchronized tracking control; cooperative manipulators; neural networks;
    consensus; multiple robots; output feedback
ci: 
li: doi:10.1007/s10846-012-9674-9
ab: Summary: In this paper, we investigate the mutual synchronization control
    problem of multiple robot manipulators in the case that the desired
    trajectory is only available to a portion of the team members, and the
    dynamics and the external disturbances of the manipulators are unknown.
    Treating the weighted average of the outputs of the neighbors as the
    reference trajectory, an adaptive neural network (NN) tracking control
    is designed for each manipulator. Based on the Lyapunov analysis, rigid
    mathematical proof is provided for the proposed algorithm for both
    state feedback and output feedback cases. It is shown that, under the
    proposed adaptive NN control, the tracking error of each manipulator
    converges to an adjustable neighborhood of the origin. Simulations are
    provided to demonstrate the effectiveness of the proposed approach.
rv: