Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

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dc.creatorChung, Soon-Jo
dc.creatorSlotine, Jean-Jacques E.
dc.date2007-11-12
dc.date2008-11-18
dc.date.accessioned2026-07-07T13:15:18Z
dc.date.available2026-07-07T13:15:18Z
dc.descriptionConcurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partial-state coupling.
dc.descriptionrevised version. Conditionally accepted for IEEE Transactions on Robotics
dc.identifierhttps://arxiv.org/abs/0711.1709
dc.identifierhttp://arxiv.org/abs/0711.1709
dc.identifierIEEE Transactions on Robotics, Vol. 25, No. 3, 2009
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/230434
dc.subjectOptimization and Control
dc.titleCooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
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