Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems

TL;DR

This paper develops decentralized control laws for Lagrangian robotic systems that achieve global exponential synchronization and concurrent synchronization, with stability guarantees via contraction analysis, applicable to various robot networks.

Contribution

It introduces a novel decentralized control approach for Lagrangian systems that ensures exponential synchronization and extends to adaptive and partial-state coupling scenarios.

Findings

Decentralized control achieves global exponential synchronization.

Synchronization conditions are derived using contraction analysis.

The strategy applies to robot manipulators and mobile robots.

Abstract

Concurrent synchronization is a regime where diverse groups of fully synchronized dynamic systems stably coexist. We study global exponential synchronization and concurrent synchronization in the context of Lagrangian systems control. In a network constructed by adding diffusive couplings to robot manipulators or mobile robots, a decentralized tracking control law globally exponentially synchronizes an arbitrary number of robots, and represents a generalization of the average consensus problem. Exact nonlinear stability guarantees and synchronization conditions are derived by contraction analysis. The proposed decentralized strategy is further extended to adaptive synchronization and partial-state coupling.