Semiautonomous control of multiple networked lagrangian systems

Peter F. Hokayem, Dušan M. Stipanović, Mark W. Spong

Research output: Contribution to journalArticlepeer-review


In this paper we study the problem of coordinating the positions of a group of Lagrangian systems with communication constraints exhibited through delays and limited data rates. We show that in a bidirectional connected communication graph structure, it is possible to design PD-type control laws that render the overall nonnetworked system input-to-state stable. Then, we exploit the robustness property of these control laws along with a small-gain condition on the allowable delays to infer the stability of the overall networked system. We illustrate how the obtained results can be specialized to handle the problem of position-position control for three networked 2DOF manipulators as well as teleoperation of robotic formations.

Original languageEnglish (US)
Pages (from-to)2040-2055
Number of pages16
JournalInternational Journal of Robust and Nonlinear Control
Issue number18
StatePublished - Dec 2009


  • Coordination
  • Delays
  • Lagrangian systems
  • Limited data rates
  • Networked control
  • Quantization
  • Semiautonomy

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Semiautonomous control of multiple networked lagrangian systems'. Together they form a unique fingerprint.

Cite this