A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances

In this paper, a delay-dependent controller based on the sliding mode concept is proposed to stabilize a networked robotic system in a decentralized synchronization scheme. In addition to being affected by communication time-delays between agents, and seen that external disturbances obviously affect any physical and dynamic system, an unsettling action resulting from measurement errors affects the position and the velocity state vectors of agents. Then, it has been proved that the synchronizing algorithm enables cooperative agents, acting in a disturbed environment, to efficiently accomplish a shared task and to compensate delayed communication data. The proposed controller has been implemented in a cooperative robotic system, where the controller proves its robustness face to disturbances