Science-advisor
REGISTER info/FAQ
Login
username
password
     
forgot password?
register here
 
Research articles
  search articles
  reviews guidelines
  reviews
  articles index
My Pages
my alerts
  my messages
  my reviews
  my favorites
 
 
Stat
Members: 3643
Articles: 2'488'730
Articles rated: 2609

29 March 2024
 
  » arxiv » 0711.1709

 Article overview


Cooperative Robot Control and Synchronization of Lagrangian Systems
Soon-Jo Chung ; Jean-Jacques E. Slotine ;
Date 12 Nov 2007
AbstractThis article presents a simple synchronization framework that can be directly applied to cooperative control of multi-agent systems and oscillation synchronization in robotic manipulation and locomotion. A dynamical network of multiple Lagrangian systems is constructed by adding diffusive couplings to otherwise freely moving robots or flying vehicles. The proposed decentralized tracking control law synchronizes an arbitrary number of robots into a common trajectory with global exponential convergence. Exact nonlinear stability results, derived by contraction analysis, provide a fresh perspective on the multi-agent coordination and control problem. The proposed strategy is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with prior work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to time-delayed communications, adaptive control, partial-joint coupling, and concurrent synchronization of heterogeneous networks.
Source arXiv, 0711.1709
Services Forum | Review | PDF | Favorites   
 
Visitor rating: did you like this article? no 1   2   3   4   5   yes

No review found.
 Did you like this article?

This article or document is ...
important:
of broad interest:
readable:
new:
correct:
Global appreciation:

  Note: answers to reviews or questions about the article must be posted in the forum section.
Authors are not allowed to review their own article. They can use the forum section.

browser claudebot






ScienXe.org
» my Online CV
» Free


News, job offers and information for researchers and scientists:
home  |  contact  |  terms of use  |  sitemap
Copyright © 2005-2024 - Scimetrica