Mathematics – Optimization and Control
Scientific paper
2007-11-12
IEEE Transactions on Robotics, Vol. 25, No. 3, 2009
Mathematics
Optimization and Control
revised version. Conditionally accepted for IEEE Transactions on Robotics
Scientific paper
Concurrent 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.
Chung Soon-Jo
Slotine Jean-Jacques E.
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