Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Pose consensus in networks of heterogeneous robots with variable time delays

Autor
Aldana, C.; Romero, E.; Nuño, E.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
International journal of robust and nonlinear control
Data de publicació
2015-09-25
Volum
25
Número
14
Pàgina inicial
2279
Pàgina final
2298
DOI
https://doi.org/10.1002/rnc.3200 Obrir en finestra nova
Projecte finançador
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistema multi-mano para tareas complejas de manipulación robotizada
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Resum
This paper proposes a novel pose (position and orientation) consensus controller for networks of heterogeneous robots modeled in the operational space. The proposed controller is a distributed proportional plus damping scheme that, with a slight modification, solves both the leader-follower and leaderless consensus problems. A singularity-free representation, unit quaternion, is used to describe the robots orientation, and the network is represented by an undirected and connected interconnection...
Paraules clau
Euler-Lagrange systems, agents, communication delays, coordination, double-integrator dynamics, improves robustness, leader-follower consensus, leader-following consensus, leaderless consensus, multiagent systems, position and orientation control, synchronization, task-space, varying delays
Grup de recerca
SIR - Service and Industrial Robotics

Participants

  • Aldana Lopez, Carlos Ivan  (autor)
  • Romero, Eduardo  (autor)
  • Nuño Ortega, Emmanuel  (autor)
  • Basañez Villaluenga, Luis  (autor)