This paper studies the cooperative control problem of multiple humanoid robots handling a common payload in the presence of position and velocity constraints, unmeasurable velocity, as well as nonparametric uncertainties.… Click to show full abstract
This paper studies the cooperative control problem of multiple humanoid robots handling a common payload in the presence of position and velocity constraints, unmeasurable velocity, as well as nonparametric uncertainties. By using a state observer to estimate the unmeasured velocity, a neuroadaptive output-feedback control scheme is developed, which by blending an error transformation with barrier Lyapunov function ensures that the full-state tracking error converges to a prescribed compact set around origin within a given finite time at a preassignable convergence rate. Furthermore, it is shown that all the signals in the closed-loop system are ultimately semiglobally uniformly bounded. Simulation results are verified to show the effectiveness and benefits of the proposed scheme.
               
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