Passivity based synchronization of multiple robotic agents with uncertain kinematics and dynamics

This paper studies the synchronization problem of networked robotic systems with uncertain kinematics and dynamics. Passivity of the robotic agents is established through adaptation to both the kinematic and dynamic uncertainties. This input-output passivation framework lays the foundation for the inter-coupling inclusion between the robotic agents, even in the case of non-uniform constant communication delays. An adaptive scheme is proposed to achieve controlled synchronization of the networked robotic systems on strongly connected graphs. With a weighted Lyapunov-Krasovskii function, we show that task-space synchronization errors of the networked robotic agents converge to zero. Simulation results are provided to demonstrate the performance of the proposed control schemes.