Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators
Joint Authors
Derbel, Nabil
Bouteraa, Yassine
Ghommam, Jawhar
Poisson, Gérard
Source
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-08-23
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Bouteraa, Yassine& Ghommam, Jawhar& Poisson, Gérard& Derbel, Nabil. 2011. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators. Journal of Robotics،Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-488471
Modern Language Association (MLA)
Bouteraa, Yassine…[et al.]. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators. Journal of Robotics No. 2011 (2011), pp.1-10.
https://search.emarefa.net/detail/BIM-488471
American Medical Association (AMA)
Bouteraa, Yassine& Ghommam, Jawhar& Poisson, Gérard& Derbel, Nabil. Distributed Synchronization Control to Trajectory Tracking of Multiple Robot Manipulators. Journal of Robotics. 2011. Vol. 2011, no. 2011, pp.1-10.
https://search.emarefa.net/detail/BIM-488471
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-488471