TY - GEN
T1 - Controlled synchronization of networked mobile manipulators under switching topologies
AU - Dai, Gong Bo
AU - Liu, Yen Chen
PY - 2015/1/1
Y1 - 2015/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84962911008&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84962911008&partnerID=8YFLogxK
U2 - 10.1109/ARIS.2015.7158372
DO - 10.1109/ARIS.2015.7158372
M3 - Conference contribution
AN - SCOPUS:84962911008
T3 - 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
BT - 2015 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Conference on Advanced Robotics and Intelligent Systems, ARIS 2015
Y2 - 29 May 2015 through 31 May 2015
ER -