On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs

Abstract

This chapter focuses on controlled synchronization of networked robotic systems communicating on strongly connected graphs. Adaptive and robust tracking control algorithms are used to synchronize heterogeneous robotic systems (with dynamic uncertainty) while following a desired trajectory. The chapter demonstrates that synchronization is achievable when the robotic systems communicate over strongly connected graphs that are not necessarily balanced. The robustness of the control algorithms to constant delays in communication are demonstrated. Numerical simulations using two-link robotic manipulators are presented to demonstrate the performance of the control algorithms.The study of controlled synchronization in the chapter can be used for flight and vehicle formation control, and are explored in the future. Controlled Vocabulary Terms numerical analysis; robust control; synchronisation; tracking loops