Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems
Joint Authors
Derbel, Nabil
Bouteraa, Yassine
Ghommam, Jawhar
Poisson, Gérard
Source
Journal of Control Science and Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-07-03
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots.
The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology.
The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory.
The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team.
It is assumed that network robots have the same number of joints and equivalent joint work spaces.
A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability.
The developed control combines trajectory tracking and coordination algorithms.
To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay.
To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.
American Psychological Association (APA)
Bouteraa, Yassine& Ghommam, Jawhar& Derbel, Nabil& Poisson, Gérard. 2011. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems. Journal of Control Science and Engineering،Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-486738
Modern Language Association (MLA)
Bouteraa, Yassine…[et al.]. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems. Journal of Control Science and Engineering No. 2011 (2011), pp.1-9.
https://search.emarefa.net/detail/BIM-486738
American Medical Association (AMA)
Bouteraa, Yassine& Ghommam, Jawhar& Derbel, Nabil& Poisson, Gérard. Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems. Journal of Control Science and Engineering. 2011. Vol. 2011, no. 2011, pp.1-9.
https://search.emarefa.net/detail/BIM-486738
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-486738