Abstract
This paper is devoted to designing a decentralized synchronous controller for networked multi-agent systems. In the proposed controller, due to the limitations of message scheduling and network bandwidth, position synchronization error is defined as a differential position error between current axis and its preceding one. It is proven that the proposed controller can asymptotically stabilize both position and synchronization errors to zero. In addition, a motion message estimator is adopted in the synchronous controller to reduce the effect of network-induced delays. Simulations are performed on a networked multi-axis machine tool to validate its effectiveness and demonstrate that it can achieve good contouring performance for the multi-axis trajectory tracking over the real-time network.
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Xu, X., Xiong, Z., Wu, J., Zhu, X. (2012). Synchronous Control for Trajectory Tracking in Networked Multi-agent Systems. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_58
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DOI: https://doi.org/10.1007/978-3-642-33515-0_58
Publisher Name: Springer, Berlin, Heidelberg
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