Robust controlled synchronization of interconnected robotic systems

Yen Chen Liu, Nikhil Chopra

研究成果: Conference contribution

9 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 2010 American Control Conference, ACC 2010
頁面1434-1439
頁數6
出版狀態Published - 2010 十月 15
事件2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
持續時間: 2010 六月 302010 七月 2

出版系列

名字Proceedings of the 2010 American Control Conference, ACC 2010

Other

Other2010 American Control Conference, ACC 2010
國家United States
城市Baltimore, MD
期間10-06-3010-07-02

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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  • 引用此

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