TY - JOUR
T1 - Mutual synchronization of robots via estimated state feedback : a cooperative approach
AU - Rodriguez Angeles, A.
AU - Nijmeijer, H.
PY - 2004
Y1 - 2004
N2 - In this paper, a controller that solves the problem of position synchronization of two (or more) robot systems, under a cooperative scheme, in the case when only position measurements are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. Coupling errors are introduced to create interconnections that render mutual synchronization of the robots. It is shown that the controller yields semiglobal exponential convergence of the synchronization closed-loop errors. Experimental results show, despite obvious model uncertainties, a good agreement with the predicted convergence.
AB - In this paper, a controller that solves the problem of position synchronization of two (or more) robot systems, under a cooperative scheme, in the case when only position measurements are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. Coupling errors are introduced to create interconnections that render mutual synchronization of the robots. It is shown that the controller yields semiglobal exponential convergence of the synchronization closed-loop errors. Experimental results show, despite obvious model uncertainties, a good agreement with the predicted convergence.
U2 - 10.1109/TCST.2004.825065
DO - 10.1109/TCST.2004.825065
M3 - Article
SN - 1063-6536
VL - 12
SP - 542
EP - 554
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 4
ER -