State-Constrained Bipartite Tracking of Interconnected Robotic Systems Via Hierarchical Prescribed-Performance Control

Abstract This paper investigates the collaborative design problem aiming to achieve state-constrained bipartite tracking of interconnected robotic systems (IRSs) with prescribed performance. We propose a hierarchical state-constrained estimator-based control frame to reduce the complexity of algorithms and improve the adaptation of the tracking control when the robotics are constrained to physical boundaries and external environment. Without the pre-known tracking trajectory, the estimator-based layer can estimate the tracking trajectory at each time interval by the interconnected topology. The position constraints are never violated during the convergence process by designing of control algorithms. The theoretical proof and simulation results are presented to validate the feasibility of the control algorithms.