Cooperative multi-robot synchronization via estimated state feedback

A. Rodriguez Angeles, H. Nijmeijer

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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 languageEnglish
Pages (from-to)3-10
JournalControl Engineering And Applied Informatics
Issue number2
Publication statusPublished - 2003


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