The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems
Open accessAbstract
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.
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Cites
Consensus Problems in Networks of Agents With Switching Topology and Time-Delays
Olfati-Saber, R., & Murray, R. M. (2004) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2004.834113 · Cited by 12,788
Coordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A., Lin, J., & Morse, A. S. (2003) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2003.812781 · Cited by 8,339
Cited by
Distributed Coordinated Tracking With a Dynamic Leader for Multiple Euler-Lagrange Systems
Mei, J., Ren, W., & Ma, G. (2011) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2011.2109437 · Cited by 473
Schmuck, P., & Chli, M. (2019) · Journal of Field Robotics · doi:10.1002/rob.21854 · Cited by 253
Contraction theory for nonlinear stability analysis and learning-based control: A tutorial overview
Tsukamoto, H., Chung, S.-J., & Slotine, J.-J. E. (2021) · Annual Reviews in Control · doi:10.1016/j.arcontrol.2021.10.001 · Cited by 145
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Metadata
- Authors
- Chung, S.-J., & Slotine, J.-J. E.
- Venue
- IEEE Transactions on Robotics
- Published
- 2009
- Volume
- 25
- Issue
- 3
- Pages
- 686-700
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2140380216
- Cited by
- 546
- References
- 2
- FWCI
- 47.91
- Type
- journal article
- Language
- en
- Open access
- green
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