Synchronization of robotic manipulators with kinematic and dynamic uncertainties over delayed communication network

Research output: Contribution to journalConference article

Abstract

This paper addresses the control problem for networked robotic manipulators to achieve task-space synchronization with uncertainties in kinematic and dynamic models. Since most of the previous results focused on such systems over an undirected topology without considering communication delays, in this paper we develop controller for networked robots to achieve synchronization in the presence of time delays. If robots exchange their output signals over a strongly connected topology, then the proposed control system is proven to be stable with guaranteed position and velocity synchronization in task space. Additionally, the synchronization problem is also studied in this paper when the interconnection topology is timevarying with constant delays. Simulation results are presented to demonstrate the performance of the proposed control system.

Original languageEnglish
Article number6974461
Pages (from-to)3440-3445
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2014-January
Issue numberJanuary
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, United States
Duration: 2014 Oct 52014 Oct 8

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Telecommunication networks
Manipulators
Synchronization
Kinematics
Robotics
Topology
Robots
Control systems
Dynamic models
Time delay
Controllers
Uncertainty
Communication

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

Cite this

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abstract = "This paper addresses the control problem for networked robotic manipulators to achieve task-space synchronization with uncertainties in kinematic and dynamic models. Since most of the previous results focused on such systems over an undirected topology without considering communication delays, in this paper we develop controller for networked robots to achieve synchronization in the presence of time delays. If robots exchange their output signals over a strongly connected topology, then the proposed control system is proven to be stable with guaranteed position and velocity synchronization in task space. Additionally, the synchronization problem is also studied in this paper when the interconnection topology is timevarying with constant delays. Simulation results are presented to demonstrate the performance of the proposed control system.",
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