Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
Abstract
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partial-state coupling.
Cite
@article{arxiv.0711.1709,
title = {Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems},
author = {Soon-Jo Chung and Jean-Jacques E. Slotine},
journal= {arXiv preprint arXiv:0711.1709},
year = {2009}
}
Comments
revised version. Conditionally accepted for IEEE Transactions on Robotics