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Robust synchronization of networked manipulators using distributed dynamic H∞ controllers
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DOI：10.1016/j.isatra.2018.09.011.png)
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In this note, the problem of synchronization of networked non-identical manipulators is investigated in the presence of model uncertainties. The notion of nonlinear H-infinity control is employed to design distributed output-feedback dynamic controllers for robust synchronization of the robots. The parameters of the synchronizing controllers are computed by solving a set of computationally tractable matrix inequalities instead of finding the solution of complicated differential inequalities which are usually encountered in the nonlinear H-infinity context. Comparative simulation results are presented to verify the efficiency and applicability of the proposed method. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Keyword:
Networked manipulators
Synchronization
Parametric uncertainty
H-infinity control
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2.0W
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