Decentralized differential tracker based control of reconfigurable manipulators without velocity sensor

This paper presents a decentralized control scheme for reconfigurable manipulator without velocity sensor. In order to handle the problem for lacking velocity signal in each module joint, a decentralized differential tracker and the measured position signal are employed to reconstruct the velocity signal, which can be used to feedback to the designed controller. Consider the model uncertainty, dynamic friction, and the interconnection term among the module joints, the compensated controller is designed through the adaptive fuzzy logic. And then, the system stability is asymptotically guaranteed by Lyapunov stability theory. At last, the numerical simulation results from two different 2-DOF reconfigurable manipulators demonstrate the effectiveness of the proposed scheme.