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Adaptive synchronization control of networked robot systems without velocity measurements
Author(s) -
Zhang Bin,
Jia Yingmin,
Du Junping
Publication year - 2018
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.4102
Subject(s) - control theory (sociology) , observer (physics) , synchronization (alternating current) , a priori and a posteriori , computer science , state observer , adaptive control , mathematics , control (management) , artificial intelligence , nonlinear system , computer network , channel (broadcasting) , philosophy , physics , epistemology , quantum mechanics
Summary This paper addresses the adaptive synchronization control problem of networked robot systems characterized by the Lagrangian function, where exact dynamic models are unknown and velocity measurements are unavailable. A class of distributed observers, comprised of multiple dynamic variables and static variables, are established based on no a priori restriction on the boundness of the observer states. The observer is compatible for different control schemes with or without structure uncertainties. Using the estimated states given by the observer, adaptive distributed control input is developed, and then, closed‐loop dynamic models for filtered vectors are established. It is proven that our proposed control scheme permits global exact state estimation and global asymptotic synchronization while compensating for structure uncertainties. Simulations are provided to demonstrate the effectiveness of the results.