Distributed Adaptive Coordinated Control of Multiple Euler–Lagrange Systems considering Output Constraints and Time Delays

Table 2

The parameters of the robotic manipulators.

Parameter	Manipulator 1	Manipulator 2	Manipulator 3	Manipulator 4
	1.01	0.96	1	1.04
	1.12	1.14	1.03	1.09
	1	0.95	0.98	1
	0.96	1	0.95	1
	0.23	0.21	0.19	0.21
	0.41	0.40	0.42	0.41