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.
|Journal||Control Engineering And Applied Informatics|
|Publication status||Published - 2003|