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Journal of Robotics
Volume 2011 (2011), Article ID 652785, 10 pages
Research Article

Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

1Research Unit on Intelligent Control, Design & Optimization of Complex Systems, University of Sfax, Sfax Engineering School, BP W, Sfax 3038, Tunisia
2Laboratoire Prisme-Pôle IRAuS, Université d’ Orléans, 63 Avenue de Lattre de Tassigny, 18020 Bourges Cedex, France

Received 1 January 2011; Revised 29 April 2011; Accepted 3 June 2011

Academic Editor: Yangmin Li

Copyright © 2011 Yassine Bouteraa et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.