Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems
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 sync...
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| Format: | Article |
| Language: | English |
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Wiley
2011-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/632374 |
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| _version_ | 1832548777248948224 |
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| author | Yassine Bouteraa Jawhar Ghommam Nabil Derbel Gérard Poisson |
| author_facet | Yassine Bouteraa Jawhar Ghommam Nabil Derbel Gérard Poisson |
| author_sort | Yassine Bouteraa |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a541b8a32d4946eaab4a6543192ce217 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2011-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-a541b8a32d4946eaab4a6543192ce2172025-02-03T06:13:08ZengWileyJournal of Control Science and Engineering1687-52491687-52572011-01-01201110.1155/2011/632374632374Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic SystemsYassine Bouteraa0Jawhar Ghommam1Nabil Derbel2Gérard Poisson3Research Unit on Intelligent Control, Design and Optimization of Complex Systems, National Engineering School of Sfax, University of Sfax, BP W, Sfax 3038, TunisiaResearch Unit on Intelligent Control, Design and Optimization of Complex Systems, National Engineering School of Sfax, University of Sfax, BP W, Sfax 3038, TunisiaResearch Unit on Intelligent Control, Design and Optimization of Complex Systems, National Engineering School of Sfax, University of Sfax, BP W, Sfax 3038, TunisiaLaboratoire Prisme - Pôle IRAuS, Université d’Orléans, 63 avenue de Lattre de Tassigny 18020 Bourges Cedex, FranceWe 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.http://dx.doi.org/10.1155/2011/632374 |
| spellingShingle | Yassine Bouteraa Jawhar Ghommam Nabil Derbel Gérard Poisson Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems Journal of Control Science and Engineering |
| title | Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems |
| title_full | Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems |
| title_fullStr | Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems |
| title_full_unstemmed | Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems |
| title_short | Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems |
| title_sort | nonlinear control and synchronization with time delays of multiagent robotic systems |
| url | http://dx.doi.org/10.1155/2011/632374 |
| work_keys_str_mv | AT yassinebouteraa nonlinearcontrolandsynchronizationwithtimedelaysofmultiagentroboticsystems AT jawharghommam nonlinearcontrolandsynchronizationwithtimedelaysofmultiagentroboticsystems AT nabilderbel nonlinearcontrolandsynchronizationwithtimedelaysofmultiagentroboticsystems AT gerardpoisson nonlinearcontrolandsynchronizationwithtimedelaysofmultiagentroboticsystems |