Abstract
In this note we present a controller that solves the problem of co-ordination of two (or more) robots, under a master-slave scheme, in the case when only position measurements are available. The controller consists of a feedback control law based on estimated velocities, which are generated by two nonlinear observers (for master and slave robot respectively). It is shown that the controller yields semi-global uniform ultimate boundedness of the closed loop errors, and a relation between this bound and the gains of the controller is established, as well as for the region of attraction.
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