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Article overview
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Cooperative Robot Control and Synchronization of Lagrangian Systems | Soon-Jo Chung
; Jean-Jacques E. Slotine
; | Date: |
12 Nov 2007 | Abstract: | This 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 |
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