Cooperative robot control and concurrent synchronization of Lagrangian systems

Authors:
Soon-Jo Chung;Jean-Jacques E. Slotine
Affiliations:
Iowa State University, Ames, IA;Massachusetts Institute of Technology (MIT), Cambridge, MA
Venue:
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Year:
2009

Citing 7
Cited 14

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On consensus algorithms of multiple uncertain mechanical systems with a reference trajectory

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Mutual Synchronization of Multiple Robot Manipulators with Unknown Dynamics

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Passivity based synchronization for networked robotic systems with uncertain kinematics and dynamics

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Phase synchronization control of complex networks of Lagrangian systems on adaptive digraphs

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Distributed adaptive coordination for multiple Lagrangian systems under a directed graph without using neighbors' velocity information

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The influence of global cues and local coupling on the rate of synchronization in the presence of time delays

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Distributed adaptive containment control of networked flexible-joint robots using neural networks

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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 partialstate coupling.