Adaptive Cooperative Output Regulation for Multiple Flexible Manipulators

Shiqi Zheng, Choon Ki Ahn, Minhong Wan, Yuanlong Xie, Peng Shi

Research output: Contribution to journalArticlepeer-review


This article studies the cooperative output regulation problem for multiple flexible manipulators. First, based on a two-parameter-correlated adaptive law, a new fully distributed observer is proposed. Different from the existing works, the observer does not depend on global graph information and can handle the uncertainties in the leader system. Second, a barrier-function-based sliding mode disturbance observer is proposed for the flexible manipulator to estimate the state-dependent disturbance. This new disturbance observer does not depend on the exact form of the disturbance. We show that the fully unknown state-dependent disturbance can be estimated and rejected in finite time. Finally, based on the proposed sliding mode disturbance observer, a new adaptive controller is proposed. The controller does not require the tip-end state information of the flexible manipulator, which is beneficial for the implementation. Both simulations and experiments show the validity of the presented method.

Original languageEnglish
Pages (from-to)1-13
Number of pages13
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Publication statusAccepted/In press - 2024

Bibliographical note

Publisher Copyright:


  • Adaptive cooperative control
  • disturbance observer
  • Disturbance observers
  • flexible manipulators
  • Manipulators
  • Motors
  • multiagent systems
  • Polynomials
  • Regulation
  • Technological innovation
  • Uncertainty

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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