Nonlinear control and synchronization with time delays of multiagent robotic systems
type: Item
instance of: scholarly article
title: Nonlinear control and synchronization with time delays of multiagent robotic systems
zbMATH Open document ID: 1235.93007
DOI: 10.1155/2011/632374
author: Yassine Bouteraa
author: Jawhar Ghommam
author: Nabil Derbel
author: Gérard Poisson
published in: Journal of Control Science and Engineering
publication date: 2012-03-09T00:00:00Z
review text: Summary: 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 time delay. To this end, Krasovskii's functional method has been used to deal with the delay-dependent stability problem.
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D20
zbMATH DE Number: 6013367
zbMATH Keywords: cooperative control
zbMATH Keywords: global asymptotic synchronization Lagrangian system groups
zbMATH Keywords: multirobot systems synchronization
zbMATH Keywords: Lyapunov-based technique
zbMATH Keywords: Krasovskii functional
zbMATH Keywords: asymptotic stability
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2011/632374
OpenAlex ID: W2074916874
Wikidata QID: Q58690817
cites work: Coordination of groups of mobile autonomous agents using nearest neighbor rules
cites work: Local Control Strategies for Groups of Mobile Autonomous Agents
cites work: Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
cites work: Multi-vehicle consensus with a time-varying reference state
cites work: Consensus seeking in multiagent systems under dynamically changing interaction topologies
cites work: Position synchronization of multiple motion axes with adaptive coupling control.
cites work: Q3447299
cites work: Contraction Analysis of Time-Delayed Communications and Group Cooperation
cites work: Cooperative Control of Dynamical Systems With Application to Autonomous Vehicles
cites work: Synchronized multiple spacecraft rotations
cites work: Consensus and Cooperation in Networked Multi-Agent Systems
cites work: Synchronization of Networked Lagrangian Systems
description: scientific article; zbMATH DE number 6013367