title: Task-Space Synchronization of Networked Mechanical Systems With Uncertain Parameters and Communication Delays.
abstract: 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 of networked mechanical systems in task space with slow-varying delays. Given that abrupt turns arise for the delays sometimes, we then propose a delay-independent adaptive synchronization control scheme which removes the requirement of the slow-varying condition. Both of the two control schemes are established with time-domain approaches by using Lyapunov-Krasovskii functions. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes.
authors.lastname: Bin Zhang
authors.lastname: Yingmin Jia
authors.forename: Fumitoshi
authors.initials: F
authors.lastname: Matsuno
authors.forename: Takahiro
authors.initials: T
authors.lastname: Endo