Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
- Creators
-
Chung, Soon-Jo
- Slotine, Jean-Jacques E.
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.
Additional Information
© 2009 IEEE. Manuscript received July 2, 2008; revised October 29, 2008 and December 22, 2008. First published March 6, 2009; current version published June 5, 2009. Date of Publication: 05 June 2009. This paper was presented in part at the 46th IEEE Conference on Decision and Control, New Orleans, LA, December 12–14, 2007. This paper was recommended for publication by Associate Editor G. Antonelli and Editor K. Lynch upon evaluation of the reviewers' comments. This paper benefited from constructive comments from the associate editor, anonymous reviewers, Dr. K. Seo, and Prof. D. W. Miller at Massachusetts Institute of Technology (MIT).Attached Files
Published - TRO_ChungSlotineFinal.pdf
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Additional details
- Eprint ID
- 72297
- Resolver ID
- CaltechAUTHORS:20161128-090602956
- Created
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2016-11-28Created from EPrint's datestamp field
- Updated
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2023-10-23Created from EPrint's last_modified field
- Caltech groups
- GALCIT