TY - GEN
T1 - Synchronization and consensus of a robot network on an underactuated dynamic platform
AU - Nguyen, Kim Doang
AU - Dankowicz, Harry
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - This paper presents an analysis of the synchronization and consensus problems of networked manipulators operating on an underactuated dynamic platform. The proposed formulation does not require detailed information about the system model. A theoretical analysis shows that the controlled system's behavior matches closely to that of a nonadaptive reference system with fast adaptation. The tracking-synchronization objective is achieved despite the presence of actuator delay, communication delay, and the unknown dynamics of the platform. When there is no common desired trajectory, the modified controller drives all robots to a consensus configuration. The simulation results illustrate the performance of the proposed control algorithms.
AB - This paper presents an analysis of the synchronization and consensus problems of networked manipulators operating on an underactuated dynamic platform. The proposed formulation does not require detailed information about the system model. A theoretical analysis shows that the controlled system's behavior matches closely to that of a nonadaptive reference system with fast adaptation. The tracking-synchronization objective is achieved despite the presence of actuator delay, communication delay, and the unknown dynamics of the platform. When there is no common desired trajectory, the modified controller drives all robots to a consensus configuration. The simulation results illustrate the performance of the proposed control algorithms.
UR - http://www.scopus.com/inward/record.url?scp=84911498793&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911498793&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942549
DO - 10.1109/IROS.2014.6942549
M3 - Conference contribution
AN - SCOPUS:84911498793
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 117
EP - 122
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -