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Semiautonomous control of multiple networked Lagrangian systems
Author(s) -
Hokayem Peter F.,
Stipanović Dušan M.,
Spong Mark W.
Publication year - 2009
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1391
Subject(s) - teleoperation , robustness (evolution) , control theory (sociology) , exploit , lagrangian , computer science , position (finance) , graph , stability (learning theory) , control system , control (management) , control engineering , engineering , mathematics , artificial intelligence , theoretical computer science , computer security , biochemistry , chemistry , finance , machine learning , electrical engineering , economics , mathematical physics , gene
Abstract In this paper we study the problem of coordinating the positions of a group of Lagrangian systems with communication constraints exhibited through delays and limited data rates. We show that in a bidirectional connected communication graph structure, it is possible to design PD‐type control laws that render the overall nonnetworked system input‐to‐state stable. Then, we exploit the robustness property of these control laws along with a small‐gain condition on the allowable delays to infer the stability of the overall networked system. We illustrate how the obtained results can be specialized to handle the problem of position–position control for three networked 2DOF manipulators as well as teleoperation of robotic formations. Copyright © 2008 John Wiley & Sons, Ltd.