Cooperative robot control and concurrent synchronization of Lagrangian systems
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Chung_Cooperative-Robot-Control.pdf
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Author(s)
Chung, Soon-Jo
Slotine, Jean-Jacques E.
Date Issued
December 2007
Journal
Proceedings of the 46th IEEE Conference on Decision and Control
Publisher
Institute of Electrical and Electronics Engineers
Citation
Chung, Soon-Jo and Jean-Jacques E. Slotine."Cooperative robot control and concurrent synchronization of lagrangian systems." Proceedings of the 46th IEEE Conference on Decision & Control, IEEE CDC, Dec. 12-14, 2007. © 2007 Institute of Electrical and Electronics Engineers.
Version
Final published version
Abstract
This article presents a simple synchronization
framework that can be directly applied to cooperative control of
multi-agent systems and oscillation synchronization in robotic
manipulation and teleoperation. A dynamical network of multiple
Lagrangian systems is constructed by adding diffusive
couplings to otherwise freely moving or flying robots. The
proposed decentralized tracking control law synchronizes an
arbitrary number of robots into a common trajectory with
global exponential convergence. The proposed strategy is much
simpler than earlier work in terms of both the computational
load and the required signals. Furthermore, in contrast with
prior work which used simple double integrator models, the
proposed method permits highly nonlinear systems and is
further extended to time-delayed communications, adaptive
control, partial-joint coupling, and leader-follower networks.
MIT Department
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Massachusetts Institute of Technology. Department of Mechanical Engineering
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