Adaptive Synchronization Control for Coordination of Multiple Robot Manipulators

2010 ◽  
pp. 73-99
Keyword(s):  
Robot Manipulators ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
Multiple Robot

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.

Adaptation and Cooperation in Control of Multiple Robot Manipulators

2000 ◽  
Vol 48 (2-3) ◽  
pp. 305-336
Author(s):  
Amit K. Sanyal ◽  
Ajay Verma ◽  
John L. Junkins
Keyword(s):  
Robot Manipulators ◽  
Multiple Robot

Synchronization control for robot manipulators driven by induction motors with flux and velocity observers

2019 ◽  
Vol 41 (16) ◽  
pp. 4535-4544
Author(s):  
Felipe-de-Jesús Torres ◽  
Gerardo-Vicente Guerrero ◽  
Carlos-Daniel García ◽  
Diego-Alfredo Núñez ◽  
Juan Mota
Keyword(s):  
Closed Loop ◽  
Induction Motors ◽  
Robot Manipulators ◽  
Joint Space ◽  
Synchronization Control ◽  
Model Stability ◽  
Control Approach ◽  
Frame Model ◽  
Synchronization Errors ◽  
Text Field

This paper presents a design of synchronization of robot manipulators driven by induction motors in the case where the flux, velocity and currents are estimated. The synchronization is developed in both the joint space and workspace. The [Formula: see text] field oriented frame model of the induction motor is used to design the synchronization control approach. An observer based on the [Formula: see text] frame model is proposed to estimate the flux, velocity and currents variables, then they are converted to the variables of the [Formula: see text] field-oriented model, and finally the remaining variables are estimated by means of an observer based on the [Formula: see text] frame model. Stability is proved via a Lyapunov analysis. Simulations show the proposed controllers yield synchronization errors asymptotically stables in the closed-loop response.

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