Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays

Two controllers capable of achieving asymptotic convergence of position and velocity errors, of the ith-manipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an estimate of the physical parameters of the nonlinear dynamics of the robot network. Moreover, the controllers can deal with different connectivity topologies (ring and star) and and can handle time-delays in the communications. Simulations, using a ten robot manipulators network with different connectivity topologies, that confirm the theoretical results are presented.