Cooperative synchronization of robots via estimated state feedback | IEEE Conference Publication | IEEE Xplore

Cooperative synchronization of robots via estimated state feedback


Abstract:

A controller that solves the problem of position synchronization of two (or more) robot systems, under a cooperative scheme, in the case when only position measurements a...Show More

Abstract:

A controller that solves the problem of position synchronization of two (or more) robot systems, under a cooperative scheme, in the case when only position measurements are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. It is shown that the controller yields semi-global exponential convergence of the synchronization closed loop errors. Experimental results show, despite obvious model uncertainties, a good agreement with the predicted convergence.
Date of Conference: 09-12 December 2003
Date Added to IEEE Xplore: 15 March 2004
Print ISBN:0-7803-7924-1
Print ISSN: 0191-2216
Conference Location: Maui, HI, USA

References

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