Mutual synchronization of robots via estimated state feedback : a cooperative approach

A. Rodriguez Angeles, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

254 Citations (Scopus)
2 Downloads (Pure)

Abstract

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.
Original languageEnglish
Pages (from-to)542-554
JournalIEEE Transactions on Control Systems Technology
Volume12
Issue number4
DOIs
Publication statusPublished - 2004

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