Mutual Synchronization of Robots via Estimated State Feedback: A Cooperative Approach

Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

“…One notable work [38] introduced a nonlinear tracking control law that synchronized multiple robot manipulators in order to track a common desired trajectory. Due to its all-to-all coupling requirement, the number of variables to be estimated increases with the number of robots to be synchronized, which imposes a significant communication burden.…”

“…In contrast with [38], the proposed control law requires only the local coupling feedback of the most adjacent robots (i − 1 and i + 1) for exponential convergence (see Fig. 1).…”

“…Consider the following adaptive control law [18], [40], [41] that has the same local coupling structure as the proposed control law in (8): (38) where s i =q i −q i,r . Also, the parameter estimateâ i for the ith member is updated by the correlation integral…”

“…Also, [D] can be decomposed to the tracking and synchronization gains, and the rest of the proof follows Theorems 6 and 7. Consequently, the adaptive synchronization law in (38) synchronizes the states of multiple dynamics in the presence of parametric model uncertainties. While the synchronization of the estimates of the physical parameters (δy 2 → 0) is not automatically guaranteed due to the semicontracting stability, the additional condition of the persistency of excitation [40] leads to the convergence ofã to zero.…”

“…For example, a large swarm of robots can first synchronize their attitudes and positions to form a certain formation pattern, then track the common desired trajectory to accomplish the given mission. In production processes, such as manufacturing and automotive applications, where high flexibility, manipulability, and maneuverability cannot be achieved by a single system [38], there has been widespread interest in cooperative schemes for multiple robot manipulators that track a predefined trajectory. A stellar formation flight interferometer [8], [9] is another example where precision control of relative spacecraft motions is indispensable.…”