Adaptive synchronization control of networked robot systems without velocity measurements

2018 ◽  
Vol 28 (11) ◽  
pp. 3606-3622 ◽  
Author(s):  
Bin Zhang ◽  
Yingmin Jia ◽  
Junping Du
Keyword(s):  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Velocity Measurements ◽  
Robot Systems ◽  
Networked Robot

scholarly journals Design of fixed-time synchronization algorithm with applications

2019 ◽  
Vol 16 (6) ◽  
pp. 172988141989131
Author(s):  
Peng Zhang ◽  
Yongzheng Cong ◽  
Di Wu ◽  
Guorong Zhang ◽  
Qi Tan
Keyword(s):  
Time Synchronization ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Homogeneous System ◽  
Synchronization Control ◽  
Multi Agent Systems ◽  
Time Control ◽  
Robot Systems ◽  
Electric Power Networks ◽  
Multi Agent

Fixed-time synchronization problem for a class of leader–follower multi-agent systems with second-order nonlinearity is studied in this article. A new fixed-time synchronization control algorithm is developed by effectively combining homogeneous system theory, Lyapunov stability theory, and fixed-time/finite-time control technology. The leader–follower multi-agent system is considered to achieve fixed-time synchronization control. Finally, numerical simulations including coordination control multiple pendulum robot systems and electric power networks are carried out to verify the control performance of the control strategy.

scholarly journals Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators

2011 ◽  
Vol 2011 ◽  
pp. 1-10 ◽  
Author(s):  
Yassine Bouteraa ◽  
Jawhar Ghommam ◽  
Gérard Poisson ◽  
Nabil Derbel
Keyword(s):  
Decentralized Control ◽  
Information Exchange ◽  
Robot Manipulators ◽  
Direct Method ◽  
Functional Method ◽  
Consensus Algorithm ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Control Law ◽  
Parameter Uncertainties

This paper investigates the issue of designing decentralized control laws to cooperatively command a team of general fully actuated manipulators. The purpose is to synchronize their movements while tracking a common desired trajectory. Based on the well-known consensus algorithm, the control strategy consists in synchronizing the joint position and the velocity of each robot in the network with respect to neighboring robots' joints and velocities. Modeled by an undirected graph, the cooperative robot network requires just local neighbor-to-neighbor information exchange between manipulators. So, it does not assume the existence of an explicit leader in the team. Based above all on combination of Lyapunov direct method and cross-coupling strategy, the proposed decentralized control law is extended to an adaptive synchronization control taking into account parameter uncertainties. To address the time delay problems in the network communication channels, the suggested synchronization control law robustly synchronizes robots to track a given trajectory. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem. A real-time software simulator is developed to visualize the robot manipulators coordination.

Stability and Convergence of a Message-Loss-Tolerant Rendezvous Algorithm for Wireless Networked Robot Systems

2020 ◽  
Vol 7 (3) ◽  
pp. 1103-1114 ◽  
Author(s):  
Sabato Manfredi ◽  
Enrico Natalizio ◽  
Claudio Pascariello ◽  
Nicola Roberto Zema
Keyword(s):  
Stability And Convergence ◽  
Message Loss ◽  
Robot Systems ◽  
Networked Robot
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