Synchronization control for multiple heterogeneous robotic systems with parameter uncertainties and communication delays.

• This paper studies synchronization of MHRSs with communication delays, kinematic and dynamic uncertainties. • The proposed adaptive sliding-mode controllers can relax the constraints on the interaction topologies. • Sufficient conditions on asymptotic stability of systems are obtained with Lyapunov and input-output stability theories. • Simulations are performed to demonstrate the validity and advantages of the theoretical results. This paper investigates synchronization of multiple heterogeneous robotic systems (MHRSs) in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. We develop two classes of adaptive sliding-mode controllers to deal with the aforementioned problem based on directed graphs containing a directed spanning tree, which relaxes the constraints on the interaction topologies. Furthermore, by invoking techniques of Lyapunov and input-output stability theories, we obtain the sufficient conditions on asymptotic stability of MHRSs. Thus, the position and velocity synchronization errors can asymptotically converge to the origin. Finally, numerous simulations are carried out to demonstrate the validity and advantages of the theoretical results. [ABSTRACT FROM AUTHOR]