Abstract
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 language | English (US) |
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Pages (from-to) | 2040-2055 |
Number of pages | 16 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 19 |
Issue number | 18 |
DOIs | |
State | Published - Dec 2009 |
Keywords
- Coordination
- Delays
- Lagrangian systems
- Limited data rates
- Networked control
- Quantization
- Semiautonomy
ASJC Scopus subject areas
- Control and Systems Engineering
- General Chemical Engineering
- Biomedical Engineering
- Aerospace Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Electrical and Electronic Engineering