Robust controlled synchronization of interconnected robotic systems

Yen Chen Liu, Nikhil Chopra

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

9 Citations (Scopus)

Abstract

In this paper we study controlled synchronization of interconnected robotic systems with dynamic uncertainty. It is first demonstrated that a previously developed algorithm for robust tracking [1] renders the closed loop system semi-passive. For the special case of two identical agents and in the absence of communication delays, the proposed control law ensures state synchronization for a large coupling gain. In the general case of heterogeneous agents communicating on balanced graphs, the control law guarantees ultimate boundedness of the synchro- nization and the tracking errors both in the delayed and the delay free case. Numerical examples are presented to verify the efficacy of the proposed control algorithms.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages1434-1439
Number of pages6
Publication statusPublished - 2010 Oct 15
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: 2010 Jun 302010 Jul 2

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period10-06-3010-07-02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • Cite this

    Liu, Y. C., & Chopra, N. (2010). Robust controlled synchronization of interconnected robotic systems. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 1434-1439). [5531223] (Proceedings of the 2010 American Control Conference, ACC 2010).