In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking {in a coordinated way} when the sampling time of communications is non-negligible, disrupting the theoretical convergence guarantees of standard control designs. Given a feasible desired trajectory in the configuration space, the proposed controller receives measurements from the system at sampled time instants and computes velocity references for the robots, which are tracked by a low-level controller. We propose a jointly designed feedback plus feedforward controller with provable stability and error convergence guarantees, and further show that the obtained controller is amenable of decentralized implementation. We test the proposed control strategy via numerical simulations in the scenario of cooperative aerial manipulation of a cable-suspended load using a realistic simulator (Fly-Crane). Finally, we compare our proposed decentralized controller with centralized approaches that adapt the feedback gain online through smart heuristics, and show that it achieves comparable performance.

翻译：在本文中,我们提议在抽样通信的情况下,为一组多机器人系统提供反皮肤控制器。目标是让一组机器人在通信取样时间不可忽略时进行轨迹跟踪(以协调方式 ), 扰乱标准控制设计理论趋同的保证。在配置空间的可行轨迹下,拟议控制器在取样时间的瞬时从系统接收测量结果,并计算机器人的速度参考值,由低级别控制器跟踪。我们建议联合设计反馈,加上可变稳定性和差错趋同保证,并进一步显示获得的控制器可以分散执行。我们用现实的模拟器(Fly-Crane)在合作航空操作电缆悬浮载载时,通过数字模拟法测试拟议的控制战略。最后,我们比较了我们提议的分散控制器与集中方法,通过智能超音率技术使反馈在网上获得,并显示其达到相似的性能。