This paper studies an adaptive area optimal coverage control method for multi-manipulator systems under the presence of both uncertain kinematics and dynamics. Initially, an objective cost function associating the voronoi tessellation is utilized to transform the optimal coverage control into the tracking control problem. Consequently, an adaptive area optimal coverage control strategy is designed by using the adaptive dynamic and kinematic programming. In this control strategy, the sliding mode control technology for each robot manipulator system is created to pursue control optimality and prescribed coverage performance simultaneously. The adaptive control algorithm using the parameter linearization properties is further deployed to directly cope with the influence caused by the parameter uncertainties of manipulator dynamics and kinematics. Theoretical analysis is given to guarantee the stability and convergence of the proposed optimal area converge controller, subject to optimal cost. Illustrative example is provided to validate the performance of the proposed framework.

中文翻译：

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运动学和动力学不确定的多机械臂系统基于Voronoi的自适应区域最优覆盖控制


本文研究了运动学和动力学不确定情况下多机械臂系统的自适应区域最优覆盖控制方法。最初，利用与泰森曲面细分相关的目标成本函数将最优覆盖控制问题转化为跟踪控制问题。因此，利用自适应动态和运动学规划设计了自适应区域最优覆盖控制策略。在该控制策略中，为每个机器人机械臂系统创建了滑模控制技术，以同时追求控制最优性和规定的覆盖性能。进一步利用参数线性化特性的自适应控制算法直接应对机械臂动力学和运动学参数不确定性造成的影响。给出了理论分析，以保证所提出的最优区域收敛控制器在最优成本的情况下的稳定性和收敛性。提供说明性示例来验证所提出框架的性能。