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Consensus control of flexible joint robots with uncertain communication delays | IEEE Conference Publication | IEEE Xplore

Consensus control of flexible joint robots with uncertain communication delays


Abstract:

Synchronization of networks composed by fully-actuated Lagrangian systems has received a lot of attention from the control theory community. Unfortunately, the case of ne...Show More

Abstract:

Synchronization of networks composed by fully-actuated Lagrangian systems has received a lot of attention from the control theory community. Unfortunately, the case of networks composed by under-actuated systems of the same kind has not been deeply studied and the related literature is very reduced. The aim of this paper is to contribute towards the establishment of a control scheme for this class of networks by solving the particular case of a network composed by agents defined by Flexible-joint robots. The proposed schemes consider the presence of unknown delays in the communication channels. The usefulness of the controllers is validated through numerical simulations.
Date of Conference: 27-29 June 2012
Date Added to IEEE Xplore: 01 October 2012
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Conference Location: Montreal, QC, Canada

References

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