TY - GEN
T1 - Synchronization of networked robotic systems on strongly connected graphs
AU - Liu, Yen Chen
AU - Chopra, Nikhil
PY - 2010
Y1 - 2010
N2 - In this paper we study controlled synchronization of networked robotic systems with dynamic uncertainties. Previous results in the literature on synchronization of nonlinear robotic systems have been primarily developed under the balanced communication graph assumption. By utilizing weighted storage functions, we demonstrate that synchronization is achievable in networked robotic systems communicating over strongly connected graphs that are not necessarily balanced. Previous results on controlled synchronization, based on adaptive and robust tracking schemes, are extended to strongly connected communication graphs. The robustness of the proposed algorithms to time delays in communication is also discussed. The control schemes are validated via simulations on a group of two-link robotic manipulators and the robustness of the proposed algorithms to noise in the system dynamics is also studied.
AB - In this paper we study controlled synchronization of networked robotic systems with dynamic uncertainties. Previous results in the literature on synchronization of nonlinear robotic systems have been primarily developed under the balanced communication graph assumption. By utilizing weighted storage functions, we demonstrate that synchronization is achievable in networked robotic systems communicating over strongly connected graphs that are not necessarily balanced. Previous results on controlled synchronization, based on adaptive and robust tracking schemes, are extended to strongly connected communication graphs. The robustness of the proposed algorithms to time delays in communication is also discussed. The control schemes are validated via simulations on a group of two-link robotic manipulators and the robustness of the proposed algorithms to noise in the system dynamics is also studied.
UR - http://www.scopus.com/inward/record.url?scp=79953156961&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79953156961&partnerID=8YFLogxK
U2 - 10.1109/CDC.2010.5718176
DO - 10.1109/CDC.2010.5718176
M3 - Conference contribution
AN - SCOPUS:79953156961
SN - 9781424477456
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 3194
EP - 3199
BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 49th IEEE Conference on Decision and Control, CDC 2010
Y2 - 15 December 2010 through 17 December 2010
ER -