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arXiv · 0711.1709

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Soon-Jo Chung·Jean-Jacques E. Slotine
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Abstract

Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partial-state coupling.

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Soon-Jo Chung, Jean-Jacques E. Slotine. 2008-11-18. Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems. https://arxiv.org/abs/0711.1709

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