The invention relates to a self-adaptive forward output consistent safety controller for a multi-single-arm
manipulator, which is characterized in that self-adaptive Iamp is adopted for N follower single-arm manipulators with unknown dynamics based on a leader single-arm
manipulator with an expected trajectory; according to the technology I, an uncertain equivalent estimator is designed, a failure fault caused by an
actuator fault is processed, and the negative influence of the failure fault is overcome; meanwhile, a distributed output consistent controller is designed for each follower single-arm
manipulator by utilizing a self-adaptive forward technology, so that the design difficulty of the controllers is reduced, and a self-adaptive Iamp is introduced; the technology I improves the
radial basis function neural network, and improves the approximation performance of the neural network to unknown dynamics. Besides, a dynamic trigger mechanism is adopted to design a leader information estimator,
continuous monitoring of neighbor information is avoided, the communication frequency between the single-arm manipulators is reduced, unknown dynamic states in the
system can be effectively processed through the whole design, faults of an
actuator can be resisted, and the reliability of the
system is improved. And the design difficulty of the controller is reduced, and the communication frequency and precision control among the single-arm manipulators are reduced.