Cooperative robot control and synchronization of lagrangian systems

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2007, Pages 2504-2509

  Chung, Soon Jo ^a   Slotine, Jean Jacques E ^b,c  

^a Iowa State University of Science and Technology   (United States)

^b Department of Mechanical Engineering and Information Sciences ^*

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL METHODS; LAGRANGE MULTIPLIERS; MULTI AGENT SYSTEMS; SYNCHRONIZATION; TIME DELAY;

PARTIAL JOINT COUPLING; ROBOTIC MANIPULATION; TIME DELAYED COMMUNICATIONS;

ROBOTICS;

EID: 62749201870     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2007.4434036     Document Type: Conference Paper

References (11)

1. Chung, S.-J., and Slotine, J.J.E, "Cooperative Robot Control and Synchronization of Lagrangian Systems," April 2007, submitted. Also, Chapter 5 of Soon-Jo Chung's Sc.D. thesis (MIT), 2007.
2. Lin, Z., Broucke, M., and Francis, B., "Local Control Strategies for Groups of Mobile Autonomous Agents. IEEE Trans. on Automatic Control, 2004.
3. Lohmiller, W., and Slotine, J.J.E., "On Contraction Analysis for Nonlinear Systems," Automatica, 34(6), 1998.
4. Mesbahi, M., and Hadaegh, F.Y., "Formation Flying of Multiple Spacecraft via Graphs, Matrix Inequalities, and Switching," AIAA Journal of Guidance, Control, and Dynamics, (24) 2: 369-377, 2001.
5. Olfati-Saber, R., and Murray, R.M., "Consensus Problems in Networks of Agents with Switching Topology and Time-Delays," in the special issue of the IEEE Transactions On Automatic Control on Networked Control Systems, VOL. 49, NO. 9, Sept. 2004.
6. Ögren, P., Egerstedt, M. and Hu, X., "A Control Lyapunov Function Approach to Multiagent Coordination," IEEE Transactions on Robotics and Automation, Vol. 18, No. 5, October 2002.
7. Ögren, P., Fiorelli, E., and Leonard, N.E., "Cooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing in a Distributed Environment," IEEE Trans. on Automatic Control, 49(8):1292.1302, 2004.
8. Pham, Q.-C., and Slotine, J.J.E., "Stable Concurrent Synchronization in Dynamic System Networks," Neural Networks, 20(1), 2007.
9. Rodriguez-Angeles, A., and Nijmeijer, H., "Mutual Synchronization of Robots via Estimated Sate Feedback: A Cooperative Approach," IEEE Transactions on Control Systems Technology, Vol. 12, No. 4, 2004.
10. Wang, W., and Slotine, J.J.E., "On Partial Contraction Analysis for Coupled Nonlinear Oscillators," Biological Cybernetics, 92(1). 2004.
11. Wang, W., and Slotine, J.J.E., "Contraction Analysis of Time-Delayed Communications Using Simplified Wave Variables," IEEE Trans. Aut. Control, 51(5), 2006.