Synchronization of networked robotic systems on strongly connected graphs

Yen Chen Liu, Nikhil Chopra

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

33 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Pages3194-3199
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: 2010 Dec 152010 Dec 17

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA
Period10-12-1510-12-17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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