  This paper studies the task-space coordinated tracking of a time-varying
leader for multiple heterogeneous manipulators (MHMs), containing redundant
manipulators and nonredundant ones. Different from the traditional coordinated
control, distributed controller-estimator algorithms (DCEA), which consist of
local algorithms and networked algorithms, are developed for MHMs with
parametric uncertainties and input disturbances. By invoking differential
inclusions, nonsmooth analysis, and input-to-state stability, some conditions
(including sufficient conditions, necessary and sufficient conditions) on the
asymptotic stability of the task-space tracking errors and the subtask errors
are developed. Simulation results are given to show the effectiveness of the
presented DCEA.
