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Synchronising HU+221E robust distributed controller for multi-robotic manipulators

Book Contribution - Book Chapter Conference Contribution

Subtitle:Synchronising H-infinity robust distributed controller for multi-robotic manipulators
In this paper the problem of synchronisation of multiple robotic manipulators using Hoo robust distributed control systems with respect to the parameter uncertainties and disturbance inputs acting on the manipulators is addressed. Robust synchronising controllers only use the information of outputs of the manipulators, and the corresponding parameters of these output-feedback controllers are designed by computing a series of linear matrix inequalities instead of solving the complex differential (e.g. Hamilton-Jacobi) (in)equalities. The proposed controller can guarantee HU+221E robust performance with respect to the external disturbance inputs and parameters uncertainties, asymptotic stability and synchronisation in the networked manipulators. Using an illustrative example we compare the results extracted in this paper to other works existing in the literature.
Volume: 53
Pages: 9944 - 9949
Publication year:2020