Nonlinear H∞ control for synchronization of networked manipulators subject to delayed communication

In this paper, a distributed synchronization control scheme is proposed for a group of robotic manipulators with non-identical dynamics and model uncertainties subject to time-varying communication delays. By using the nonlinear H∞ control strategy, a dynamic distributed control law is developed to...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 359; no. 2; pp. 999 - 1017
Main Authors Seyed Alinezhad, Haniyeh, Mahboobi Esfanjani, Reza
Format Journal Article
LanguageEnglish
Published Elmsford Elsevier Ltd 01.01.2022
Elsevier Science Ltd
Subjects
Closed loop systems
Control methods
Control theory
Controllers
H-infinity control
Inequalities
Manipulators
Nonlinear control
Nonlinear equations
Nonlinear systems
Parameters
Robot arms
Robots
Synchronism
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ISSN0016-0032
1879-2693
0016-0032
DOI10.1016/j.jfranklin.2021.11.025

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Summary:In this paper, a distributed synchronization control scheme is proposed for a group of robotic manipulators with non-identical dynamics and model uncertainties subject to time-varying communication delays. By using the nonlinear H∞ control strategy, a dynamic distributed control law is developed to achieve synchronous tracking of networked robots in the joint space. Solving differential inequalities for obtaining controller parameters is a complicated task that is encountered in the nonlinear H∞ control framework, and the main feature of the suggested approach is that the parameters of the controller are found by checking the feasibility of a set of matrix inequalities. The proposed control method is implemented via simulation and its applicability is verified by illustrative results.
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ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2021.11.025