Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

Soon-Jo Chung, Jean-Jacques E. Slotine
2009 IEEE Transactions on robotics  
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem.
more » ... consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partialstate coupling.
doi:10.1109/tro.2009.2014125 fatcat:ymtlheokgfeyrewcrf7rddjhty