Safe Task Space Synchronization with Time-Delayed Information
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866916973270532096 |
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| author | Bhattacharya, Rounak Guthikonda, Vrithik R. Dani, Ashwin P. |
| author_facet | Bhattacharya, Rounak Guthikonda, Vrithik R. Dani, Ashwin P. |
| contents | In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory information. The communication time delay may be a result of various factors that arise in human-robot collaboration tasks, such as sensor processing or fusion to estimate trajectory/intent, network delays, or computational limitations. The developed adaptive controller uses Barrier Lyapunov Function (BLF) to constrain the Cartesian coordinates of the robot to ensure safety, an ICL-based adaptive law to account for the unknown kinematics, and a gradient-based adaptive law to estimate unknown dynamics. Barrier Lyapunov-Krasovskii (LK) functionals are used for the stability analysis to show that the synchronization and parameter estimation errors remain semi-globally uniformly ultimately bounded (SGUUB). The simulation results based on a human-robot synchronization scenario with time delay are provided to demonstrate the effectiveness of the designed synchronization controller with safety constraints. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_22976 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Safe Task Space Synchronization with Time-Delayed Information Bhattacharya, Rounak Guthikonda, Vrithik R. Dani, Ashwin P. Robotics Systems and Control Signal Processing In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory information. The communication time delay may be a result of various factors that arise in human-robot collaboration tasks, such as sensor processing or fusion to estimate trajectory/intent, network delays, or computational limitations. The developed adaptive controller uses Barrier Lyapunov Function (BLF) to constrain the Cartesian coordinates of the robot to ensure safety, an ICL-based adaptive law to account for the unknown kinematics, and a gradient-based adaptive law to estimate unknown dynamics. Barrier Lyapunov-Krasovskii (LK) functionals are used for the stability analysis to show that the synchronization and parameter estimation errors remain semi-globally uniformly ultimately bounded (SGUUB). The simulation results based on a human-robot synchronization scenario with time delay are provided to demonstrate the effectiveness of the designed synchronization controller with safety constraints. |
| title | Safe Task Space Synchronization with Time-Delayed Information |
| topic | Robotics Systems and Control Signal Processing |
| url | https://arxiv.org/abs/2509.22976 |