Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

被引：433

作者：

Chung, Soon-Jo ^{[1
]}

Slotine, Jean-Jacques E. ^{[2
]}

机构：

[1] Iowa State Univ, Ames, IA 50011 USA

[2] MIT, Cambridge, MA 02319 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 03期

关键词：

Cooperative manipulators; distributed robot systems; motion control; networked robots; networked teleoperation; CONTRACTION ANALYSIS; CONSENSUS; COORDINATION; NETWORKS; AGENTS;

D O I：

10.1109/TRO.2009.2014125

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：686 / 700

页数：15

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