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Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
[article]
2008
arXiv
pre-print
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.
arXiv:0711.1709v4
fatcat:7xdgetrsfng7rnp3rf6tviaplu