Title :
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
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;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272826
