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Cooperative Robot Control and Synchronization of Lagrangian Systems

Chung, Soon-Jo and Slotine, Jean-Jacques E. (2007) Cooperative Robot Control and Synchronization of Lagrangian Systems. In: 46th IEEE Conference on Decision and Control, 2007. IEEE , Piscataway, NJ, pp. 2504-2509. ISBN 978-1-4244-1497-0.

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This article presents a simple synchronization framework that can be directly applied to cooperative control of multi-agent systems and oscillation synchronization in robotic manipulation and teleoperation. A dynamical network of multiple Lagrangian systems is constructed by adding diffusive couplings to otherwise freely moving or flying robots. The proposed decentralized tracking control law synchronizes an arbitrary number of robots into a common trajectory with global exponential convergence. The proposed strategy is much simpler than earlier work in terms of both the computational load and the required signals. Furthermore, in contrast with prior work which used simple double integrator models, the proposed method permits highly nonlinear systems and is further extended to time-delayed communications, adaptive control, partial-joint coupling, and leader-follower networks.

Item Type:Book Section
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Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2007 IEEE. Date of Conference: 12-14 Dec. 2007. Date Added to IEEE Xplore: 21 January 2008.
Record Number:CaltechAUTHORS:20161122-133156700
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Official Citation:S. J. Chung and J. J. E. Slotine, "Cooperative robot control and synchronization of Lagrangian systems," 2007 46th IEEE Conference on Decision and Control, New Orleans, LA, 2007, pp. 2504-2509. doi: 10.1109/CDC.2007.4434036
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72250
Deposited By: Ruth Sustaita
Deposited On:22 Nov 2016 22:16
Last Modified:11 Nov 2021 04:58

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