Cooperative synchronization of robots via estimated state feedback

Author

Rodriguez-Angeles, Alejandro ; Nijmeijer, Henk

Author_Institution

Program of Appl. Math. & Comput., Mexican Pet. Inst., Mexico City, Mexico

Volume

2

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

1514

Abstract

A controller that solves the problem of position synchronization of two (or more) robot systems, under a cooperative scheme, in the case when only position measurements are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. It is shown that the controller yields semi-global exponential convergence of the synchronization closed loop errors. Experimental results show, despite obvious model uncertainties, a good agreement with the predicted convergence.

Keywords

closed loop systems; convergence; cooperative systems; multi-robot systems; observers; position measurement; state feedback; synchronisation; velocity control; closed loop errors; cooperative scheme; feedback control law; nonlinear observers; position measurements; position synchronization; robot systems; state feedback; Control systems; Convergence; Error correction; Feedback control; Observers; Position measurement; Predictive models; Robots; State estimation; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272826

Filename

1272826