Controlled synchronization of networked mobile manipulators under switching topologies

Gong Bo Dai, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper addresses distributed controllers to synchronize a network of nonholonomic mobile manipulators connecting over switching topologies. The issues of communication delays and possible disconnections between robots are taken into account. With Lyapunov-Krasovskii functionals, the networked robotic system is proved to be stable, and the convergence of the synchronization and tracking errors to zero are also guaranteed. Subsequently, the proposed synchronization system is extended for a networked mobile manipulators to keep a formation in the applications of cooperative manipulation. Numerical examples are addressed to demonstrate the performance of the proposed networked robotic systems. Moreover, the ability of the synchronization system to suppress external disturbances has been introduced via simulations.

Original languageEnglish
Title of host publication2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479918515
DOIs
Publication statusPublished - 2015 Jan 1
EventInternational Conference on Advanced Robotics and Intelligent Systems, ARIS 2015 - Taipei, Taiwan
Duration: 2015 May 292015 May 31

Publication series

Name2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015

Other

OtherInternational Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
Country/TerritoryTaiwan
CityTaipei
Period15-05-2915-05-31

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering

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