Autonomous and cooperative robotic behavior based on fuzzy logic and genetic programming
Integrated Computer-Aided Engineering
Mobile robot formation control using a modified leader-follower technique
Integrated Computer-Aided Engineering
Cooperative robot control and concurrent synchronization of Lagrangian systems
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
A time-varying wave impedance approach for transparency compensation in bilateral teleoperation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Multi-agent system to monitor oceanic environments
Integrated Computer-Aided Engineering
A multi-agent system for managing adverse weather situations on the road network
Integrated Computer-Aided Engineering
Decentralized agent-based underfrequency load shedding
Integrated Computer-Aided Engineering - Multi-Agent Systems for Energy Management
Multi agent systems: An example of power system dynamic reconfiguration
Integrated Computer-Aided Engineering - Multi-Agent Systems for Energy Management
Experimental Comparison Study of Control Architectures for Bilateral Teleoperators
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Adaptive fuzzy control for differentially flat MIMO nonlinear dynamical systems
Integrated Computer-Aided Engineering
Integrated Computer-Aided Engineering
Fuzzy agent-based approach for consensual design synthesis in product configuration
Integrated Computer-Aided Engineering
An intelligent route management system for electric vehicle charging
Integrated Computer-Aided Engineering
Integrated Computer-Aided Engineering
Energy and locality aware load balancing in cloud computing
Integrated Computer-Aided Engineering
| Hi-index | 0.00 |
Consensus and coordination of multiple teleoperated agents has been a control topic of growing interest over the last decade due, in part, to its many potential applications and related complex challenges. One of these challenges is to guarantee stability and motion coordination in the presence of inherent communication and input delays as well as system nonlinearities in the multi-agent system. Addressing this challenge herein, we report on a model reference robust control framework that guarantees stability, motion coordination, and formation control of N output strictly passive, nonlinear Lagrangian systems with arbitrarily large, nonuniform control input delays. The control framework is comprised of a reference model coupled to the nonlinear systems via the use of N modified scattering transformation blocks. It is shown that the overall control architecture is stable for any large constant delay, robust to system uncertainties, and that the control parameters are delay-independent. A numerical example with four nonlinear planar manipulators and another example with six ground vehicles are finally presented to illustrate the performance of the proposed controller.