Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
By Soon-Jo Chung, Jean-Jacques E. Slotine. 2007
571 citations recorded by the source corpus.
Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partial-state coupling.
Subfields: Computer Networks and Communications, Control and Systems Engineering
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In Computer Networks and Communications
In Control and Systems Engineering
Citations in the corpus
- An Overview of Recent Progress in the Study of Distributed Multi-Agent Coordination (2012, methodology): “The main techniques used in their stability analysis include dissip ativity theory [54], nonsmooth analysis [ 89], [92], [93], and especially Lyapunov functions [ 59], [65], [67], [68], [92], [94].”
- Distributed containment control for Lagrangian networks with parametric uncertainties under a directed graph (2012, background): “Thus the results in the current paper can be used to deal with the coordinated tracking problem and hence extend the work in Chung and Slotine (2009), Mei et al. (2011) and Spong and Chopra (2007) to a directed graph.”
- Synchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays (2011, background): “More recently, [19] considers general EL-systems and present a generalization of the well-known Slotine and Li controller [20] for the case of multiple systems.”
- Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach (2008, methodology): “Although an uncoupled trajectory control law, in the absence of external disturbances, would achieve synchronization to a common trajectory, the proposed control strategy can achieve more efficient and robust performance through synchronization using local interactions, especially if the external di”
- A unified framework for coordinated multi-arm motion planning (2018, background): “(Chung and Slotine 2009) proposed a contraction based control algorithm for synchronizing multi robotic arms with an external agent.”
- Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems (2011, methodology): “The nonlinear contraction analysis is used in [14] to analyze the stability of cooperative tracking control laws for multiple robotic manipulators.”
- Distributed Adaptive Tracking Control for Synchronization of Unknown Networked Lagrangian Systems (2011, methodology): “In contrast to the synchronization approaches for the networked Lagrangian systems [11], [19], [21]–[25], our proposed algorithms do not rely on all-to-all, ring, or undirected communication topologies but allow for general directed communication topology, which is only required to have a spanning t”
- A Survey on Aerial Swarm Robotics (2018, methodology): “We can leverage concurrent synchronization of mixing multiple virtual leaders with many synchronized groups to create a complex time-varying swarm comprised of numerous heterogeneous systems [27], [28], [30], [38].”
- Adaptive group consensus in uncertain networked Euler–Lagrange systems under directed topology (2015, background): “In general, coordination problems encountered in engineering applications can often be rephrased as the controlled synchronization or consensus problems of multi-agent systems, which aim to enhance both the robustness and performance of networked control systems [1–7].”