Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements

DOI10.1016/J.EJCON.2013.09.005MaRDI QIDQ397520zbMATH OpenOpenAlexFDO

Authors Emmanuel Nuño, Bayu Jayawardhana, Luis Basañez, Romeo Ortega

Publication date 12 August 2014

Published in European Journal of Control (Search for Journal in Brave)

Full work available at URL https://pure.rug.nl/ws/files/14425598/2013EurJControlNuno.pdf

zbMATH Keywords

communication graphdecentralized energy-shaping controllermultiple nonidentical flexible-joint robotsrobustness in the coordination

Mathematics Subject Classification ID

Applications of graph theory (05C90) Sensitivity (robustness) (93B35) Decentralized systems (93A14) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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Cites work

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• Synchronization of Networks of Nonidentical Euler-Lagrange Systems With Uncertain Parameters and Communication Delays

Cited in

(3)

• Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
• Coordination of multi-agent Euler-Lagrange systems via energy-shaping: networking improves robustness
• Pose consensus in networks of heterogeneous robots with variable time delays

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