Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments

This paper considers the coordinated tracking problem for a group of Lagrange systems in the presence of parametric uncertainties. Distributed adaptive controllers are proposed with the aid of Lyapunov techniques. Compared with the previous work in the context of networked Lagrange systems control, the results in this paper are suitable for the general digraph communication topologies. Under the condition that the desired trajectory is only available to a portion of Lagrange systems, we discuss the cooperative tracking problem with general digraph communication topology, which contains a spanning tree with the root node being the active target system. Under the case where the neighbor's velocity is unavailable, a distributed filter is introduced to overcome this deficiency. Experimental results on networked robot-arms are provided to show the effectiveness of the proposed control algorithms.