Abstract
A controller for position synchronization at two (or more) robot systems, under a cooperative scheme, in the case when only position measurement are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. It is shown that the controller yields semi-global exponential convergence of the synchronization closed loop errors. Experimental results show a good agreement with the predicted convergence.
| Original language | English |
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| Pages (from-to) | 3-10 |
| Journal | Control Engineering And Applied Informatics |
| Volume | 5 |
| Issue number | 2 |
| Publication status | Published - 2003 |