Cooperative Multi-Robot Synchronization Via Estimated State Feedback
- Authors
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A. Rodriguez-Angeles
Mexican Petroleum Institute, Program of Applied Mathematics and Computation
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H. Nijmeijer
Eindhover University of Technology, Department of Mechanical Engineering
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- Abstract
- A controller for position synchronization at two (or more) robot systems, under a cooperative scheme, in the case when only position measurement are available, is presented. The synchronization controller consists of a feedback control law and a set of nonlinear observers. It is shown that the controller yields semi-global exponential convergence of the synchronization closed loop errors. Experimental results show a good agreement with the predicted convergence.
- References
- Published
- 2003-06-30
- Issue
- Vol. 5 No. 2 (2003)
- Section
- Articles