Coordinated multi-robot trajectory tracking control over sampled communication

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario sampled communication. The goal is to make group robots perform trajectory tracking coordinated way when sampling time communications much larger than low-level controllers, disrupting theoretical convergence guarantees standard control design continuous time. Given desired configuration space which pre-computed offline, proposed receives measurements, possibly via wireless, re-compute velocity references robots, are tracked by controller. We joint proportional feedback plus novel continuous-time feedforward that linearizes dynamics around reference trajectory: method amenable distributed communication implementation where only one broadcast transmission needed per sample. Also, provide closed-form expressions instability and stability regions rate terms gain k period T. test strategy numerical simulations cooperative aerial manipulation cable-suspended load using realistic simulator (Fly-Crane). Finally, compare our with centralized approaches adapt online through smart heuristics, show it achieves comparable performance.