SUMMARYThis paper reports on laboratory and field experimental results for controlled robotic manipulators operating on moving platforms with unmodeled dynamics. The aim is to validate theoretical predictions for the dependence on control parameters of an adaptive control strategy. In addition, the results provide insight into different discretizations of the continuous-time formulation, suggesting the most suitable discretization scheme for hardware implementation. The second set of experimental results, obtained from an implementation of the control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays.

中文翻译：

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动态平台上机械手自适应控制器的实验验证

摘要本文报告了在具有未建模动力学的移动平台上运行的受控机器人机械手的实验室和现场实验结果。目的是验证自适应控制策略对控制参数的依赖性的理论预测。此外，结果提供了对连续时间公式的不同离散化的洞察，提出了最适合硬件实现的离散化方案。第二组实验结果是从机器人机械手网络中同步和共识控制框架的实现中获得的，同样验证了对网络通信延迟敏感性的理论预测。