Synchronization of networked robotic systems on strongly connected graphs

Yen Chen Liu, Nikhil Chopra

研究成果: Conference contribution

35 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2010 49th IEEE Conference on Decision and Control, CDC 2010
發行者Institute of Electrical and Electronics Engineers Inc.
頁面3194-3199
頁數6
ISBN(列印)9781424477456
DOIs
出版狀態Published - 2010
事件49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
持續時間: 2010 十二月 152010 十二月 17

出版系列

名字Proceedings of the IEEE Conference on Decision and Control
ISSN(列印)0191-2216

Conference

Conference49th IEEE Conference on Decision and Control, CDC 2010
國家/地區United States
城市Atlanta
期間10-12-1510-12-17

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 建模與模擬
  • 控制和優化

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