Multi-target tracking of networked heterogeneous collaborative robots in task space

• DOI: 10.1007/s11071-019-05038-x
• Publication Date: 2019-06-17T07:02:42Z
• Authors: Chang-Duo Liang; Leimin Wang; Xiang-Yu Yao; Zhi-Wei Liu; Ming-Feng Ge
• Keywords: Tracking (education)

This paper investigates the multi-target tracking problem of networked heterogeneous collaborative robots with parametric uncertainties and external disturbances in the task space, where each robot can be kinematic redundant or non-redundant. The acceleration of the targets can either belong to $${\mathcal {L}}_2$$ or $${\mathcal {L}}_{\infty }$$ space. A uniform distributed controller–estimator algorithm is designed to solve the aforementioned problem. The sufficient conditions for both zero-error stability and Lagrange stability of the closed-loop system are derived. Finally, simulation examples are illustrated to demonstrate the effectiveness of the main results.