Adaptive synchronization control of multi-robot teams: Cooperative and coordinated schemes

In this article, an internal and an external synchronization have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronize the movement of robot group following the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronization topology, robots network requires only local neighbor-to- neighbor information exchange between robots. The interaction topology of agents network is represented using an undirected graph. However the objective of the external synchronization coordinated scheme is to design interconnections and feedback controllers for slaves, such that their positions and velocities synchronize to those of the leader robot. It´s assumed that robots in cooperation or in coordination have the same joints number and equivalent joint work spaces.