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In this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply can not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the control to execute those trajectories. We present...
Aiming at the problem of synchronization between the positioner and the manipulator with more than two degrees of freedom (DOFs) when they are operated by two independent controllers, a coordinated control strategy which couples the motion of the manipulator and the positioner based on the time axis is proposed. Firstly, the time axis is obtained when the manipulator works in a continuous motion mode...
In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots...
Here is applied The Immersion and Invariance method (I&I) in order to design a novel observer to solve the chaotic synchronization for the master-slave configuration, where the master belongs to a class of feedback linearized systems. This paper shows a robust observer which asymptotically calculates the underlying dynamics of the master system. We performed convincing numerical simulations.
This paper proposes a definition of generalized stability (GST) for non-autonomous differential equation (NDE), which is an extension of generalized synchronization for NDE. Then, a constructive theorem for NDE is introduced. Based on the GST for NDE, this article constructs a novel 8-dimensional GST system. Numerical simulations show that the dynamic behaviors of the GST system have significant chaotic...
Human-demonstrated motion transferred to a robotic platform often needs to be adapted to the current state of the environment or to modified task requirements. Adaptation, i. e. learning of a modified behavior, needs to be fast to enable quick utilization of the robot either in industry or in future household-assistant tasks. In this paper we show how to accelerate trajectory adaptation based on learning...
Classical approaches towards learning coordinated movement tasks often represent a movement in a sequential and exclusive fashion. Introducing concurrency allows to decompose such tasks into a number of separate sequences, for instance for two different end-effectors. While this results in a compact and generic representation of the individual movement primitives (MPs), it is a hard problem to learn...
Here, we study the ultimately bounded stability of network of mismatched systems using Lyapunov direct method. The upper bound on the error of oscillators from the center of the neighborhood is derived. Then the performance of an adaptive compensation via decentralized control is analyzed. Finally, the analytical results for a network of globally connected Lorenz oscillators are verified.
We consider reduced-state synchronization of qubit networks with the aim of driving the qubits' reduced states to a common trajectory. The evolution of the quantum network's state is described by a master equation, where the network Hamiltonian is either a direct sum or a tensor product of identical qubit Hamiltonians, and the coupling terms are given by a set of permutation operators over the network...
This paper solves the output synchronization problem for groups of identical linear agents subject to constant external disturbances. We propose novel distributed control laws with integral action. In a first step, we assume that each agent has access to its own state. Then, we present observer-based implementations for the cases where each agent has only access to its output or to a relative output...
A decentralized controller is presented along with sufficient conditions for stability in leader-based synchronization of communication-delayed networked agents. The agents have heterogeneous dynamics modeled by uncertain, nonlinear Euler-Lagrange equations of motion affected by heterogeneous, unknown, exogenous disturbances. The developed controller requires only one-hop (delayed) communication from...
We study the problem of leader selection in leader-follower multi-agent systems that are subject to stochastic disturbances. This problem arises in applications such as vehicle formation control, distributed clock synchronization, and distributed localization in sensor networks. We pose a new leader selection problem called the in-network leader selection problem. Initially, an arbitrary node is selected...
Two robust controllers, a linear disturbance estimator (DE) based controller and a standard integral controller, are respectively designed for multiple 3-DOF helicopters to achieve attitude-trajectory synchronization in both elevation and pitch tracking. These two controllers are shown to have similar structure but with different tuning parameters. It is further discovered that DE benefits from a...
We study synchronization of coupled Kuramoto oscillators with heterogeneous inherent frequencies and general underlying connectivity. We provide conditions on the coupling strength and the initial phases which guarantee the existence of a Positively Invariant Set (PIS) and lead to synchronization. Unlike previous works that focus only on analytical bounds, here we introduce an optimization approach...
While hand trajectory has been successfully modeled for single arm reaching movement, few works have considered the bimanual reaching movement and no study has modeled the dyadic reaching movement. In a bimanual task, both hands belong to the same person, while in a dyadic task each hand belongs to a different person. In this paper, we study both bimanual and dyadic reaching movements and show that...
We present a design scheme for the synchronization of linear heterogeneous SISO systems by static feedback controllers. Extending some recent results, a distributed method is provided for synchronizing non-identical agents by a simple synchronization controller for homogeneous agents. In [4], it was shown that for a special condition heterogeneous agents can be synchronized by static controllers....
The paralleling of synchronous generators is one of the main and frequently implemented power system control tasks. The significant importance of automatic implementation of this task is determined by the need of fast and reliable restoration of an electrical power system (EPS) after emergencies. The value of this task has been dramatically increasing during the last years with the growth of the penetration...
In this paper, a new saturated synchronous controller is proposed for multiple nonholonomic wheeled mobile robots to perform a time-varying formation task. Each robot is controlled to track its desired trajectory, while synchronized its motion with the two neighboring robots. A novel dynamic model of the wheeled mobile robot is derived based on Lagrange method. The Lagrange multipliers of the robot...
In this paper, a new approach based on the iterative learning control (ILC) is proposed for finite-time tracking of coupled continuous networks. The proposed ILC tracking approach makes use of instantaneous sampled-data. By virtue of the Bellman-Gronwall Lemma, it is shown that the instantaneous sampled-data based ILC approach can achieve the tracking of coupled continuous networks in a finite-time...
This paper investigates the complete synchronization of two state-dependent switched Boolean networks (SBNs) coupled in the drive-response configuration. First, an algebraic express is given for the state-dependent SBNs by using the semi-tensor product. Second, a new state variable is defined to characterize the synchronization information via coordinate transformation. Based on it, a necessary and...
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