Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 12, Issue 4, Pages 542-554Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2004.825065
Keywords
cooperative systems; feedback systems; multiple manipulators; observers; synchronization
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In this paper, 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. Coupling errors are introduced to create interconnections that render mutual synchronization of the robots. It is shown that the controller yields semiglobal exponential convergence of the synchronization closed-loop errors. Experimental results show, despite obvious model uncertainties, a good agreement with the predicted convergence.
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