We apologize for a recent technical issue with our email system, which temporarily affected account activations. Accounts have now been activated. Authors may proceed with paper submissions. PhDFocusTM
CFP last date
20 November 2024
Call for Paper
December Edition
IJCA solicits high quality original research papers for the upcoming December edition of the journal. The last date of research paper submission is 20 November 2024

Submit your paper
Know more
The week's pick
Responsive image
Improved Shuffled Frog Leaping Algorithm with Self-Adaptive Shuffling for Fuzzy Logic PD+G Controller Optimization in Robotic Manipulators

Duc Hoang Nguyen
Random Articles
Reseach Article

Adaptive backstepping synchronization for networked Lagrangian systems

by Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 42 - Number 12
Year of Publication: 2012
Authors: Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson
10.5120/5742-7608

Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson . Adaptive backstepping synchronization for networked Lagrangian systems. International Journal of Computer Applications. 42, 12 ( March 2012), 1-8. DOI=10.5120/5742-7608

@article{ 10.5120/5742-7608,
author = { Yassine Bouteraa, Jawhar Ghommam, Gérard Poisson },
title = { Adaptive backstepping synchronization for networked Lagrangian systems },
journal = { International Journal of Computer Applications },
issue_date = { March 2012 },
volume = { 42 },
number = { 12 },
month = { March },
year = { 2012 },
issn = { 0975-8887 },
pages = { 1-8 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume42/number12/5742-7608/ },
doi = { 10.5120/5742-7608 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-06T20:31:07.010525+05:30
%A Yassine Bouteraa
%A Jawhar Ghommam
%A Gérard Poisson
%T Adaptive backstepping synchronization for networked Lagrangian systems
%J International Journal of Computer Applications
%@ 0975-8887
%V 42
%N 12
%P 1-8
%D 2012
%I Foundation of Computer Science (FCS), NY, USA
Abstract

A decentralized control law using a backstepping scheme is proposed to deal with a leader follower multiple robots structure. Based on graph theory and Laplacian, the coordination strategy combines the leader follower control with the decentralized control. In fact, in the proposed approach, each follower robot only needs the information exchange with its connected neighbors and does not assume the existence of direct communication channel with the leader, which mitigate the implementation cost, mainly when the cooperative robots number increases. The objective of the designed control law is to synchronize positions and velocities of multiple followers interconnected via the neighbor-based rule with respect to the leader's state. The proposed strategy is further extended to adaptive neural network coordination. The performance of synchronization control system and the nonlinear stability are derived by Lyapunov method. Simulations were performed to demonstrate the effectiveness of the proposed synchronization control approach.

References
  1. J. Mei, W. Ren, and G. Ma, "Distributed coordinated tracking with a dynamic leader for multiple Euler-Lagrange systems," IEEE Transactions on Automatic Control, Issue:99, January 2011.
  2. J. Ghommam, H. Mehrjerdi, M. Saad and F. Mnif, Formation path following control of unicycle-type mobile robots, Robotics and Autonomous Systems, Volume 58, Issue 5, 31 May 2010, Pages 727-736 .
  3. Soon-Jo Chung and Jean-Jacques E. Slotine "Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems". IEEE Transactions on Robotics, vol. 25, Issue:3, pp. 686 - 700 , June 2009.
  4. Z. G. Hou, L. Cheng, and M. Tan, "Decentralized robust adaptive control for the multiagent system consensus problem using neural networks," IEEE Trans. Syst. , Man, Cybern. B, Cybern. , vol. 39, no. 3, pp. 636-647, Jun. 2009.
  5. W. Ren, "Distributed leaderless consensus algorithms for networked EulerLagrange systems," Int. J. Control, vol. 82, no. 11, pp. 21372149, Nov. 2009.
  6. Dong Sun, Can Wang, Wen Shang and Gang Feng, A Synchronization Approach to Trajectory Tracking of Multiple Mobile Robots While Maintaining Time-Varying Formations, IEEE Translactions on Robotics , Vol. 25, No. 5, October, 2009.
  7. Wei Ren, Distributed leaderless consensus algorithms for networked EulerLagrange systems, International Journal of Control, Vol. 82, No. 11, November 2009, 2137-2149
  8. Long Cheng Zeng-Guang Hou Min Tan Decentralized adaptive leaderfollower control of multi-manipulator system with uncertain dynamics, the 34th Annual Conference of IEEE Industrial Electronics, Nov. 2008.
  9. Sotzing, C. C. ; Evans, J. ; Lane, D. M. ; A Multi-Agent Architecture to Increase Coordination E–ciency in Multi-AUV Operations, IEEE Conference OCEANS 2007-Europe, Aberdeen, June 2007.
  10. Lee, D. , and Spong, M. W. , "Stable Flocking of Multiple Inertial Agents on Balanced Graphs", IEEE Transactions on Automatic Control, 52, 14691475, 2007.
  11. Reza Olfati-Saber "Consensus and Cooperation in Networked Multi- Agent Systems" invited paper, Vol. 95, No. 1, Proceedings of the IEEE, January 2007.
  12. J. Hu and Y. Hong, "Leader following coordination of multi agent systems with coupling time delays", Physica A, vol. 374, no. 2, pp. 853-863, 2007.
  13. J. Hu and Y. Hong, "Leader-following coordination of multi-agent systems with coupling time delays", Physica A, vol. 374, no. 2, pp. 853-863, 2007.
  14. Y. Hong, J. Hu, and L. Gao, "Tracking control for multi-agent consensus with an active leader and variable topology", Automatica, vol. 42, no. 7, pp. 1177-1182, 2006.
  15. Olfati-Saber, R. Flocking for Multi-Agent Dynamic Systems: Algorithms and Theory', IEEE Transactions on Automatic Control, 51, 401-420, 2006.
  16. M. W. Spong, S. Hutchinson, and M. Vidyasagar. Robot Modeling and Control. John Wiley and Sons, Inc. , New York, 2006.
  17. W. Ren and R. W. Beard. Consensus seeking in multi-agent systems using dynamically changing interaction topologies. IEEE Transactions on Automatic Control, 5(5):655-661, May 2005.
  18. Z. Lin, B. Francis, and M. Maggiore, "Necessary and su–cient graphical conditions for formation control of unicycles", IEEE Transactions on Automatic Control, vol. 50, no. 1, pp. 121-127, 2005.
  19. W. Wang and J. J. E. Slotine, "On partial contraction analysis for coupled nonlinear oscillators", Biological Cybernetics, vol. 92, no. 1, pp. 38-53, 2005.
  20. W. Ren, R. W. Beard, and E. M. Atkins, " survey of consensus problems in multi-agent coordination", Proceedings of American Control Conference, Portland, Oregon, pp. 1859-1864, 2005.
  21. Lixin Gao, Daizhan Cheng, Comment on "Coordination of Groups of mobile autonomous agents using nearest neighbor Rules", IEEE transactions on Automatic control, pp. 1913-1916, novembre 2005.
  22. Xiaohai LI and Jizhong XIAO, Robot Formation Control in LeaderFollower Motion Using Direct Lyapunov Method, International Journal of Intelligent Control and Systems vol. 10, no. 3, 244-250, september 2005.
  23. De Sousa, J. B. ; Girard, A. R. ; Hedrick, J. K. ; Elemental maneuvers and coordination structures for unmanned air vehicles, IEEE Conference on Decision and Control, Nassau, December 2004.
  24. R. S. VARGA, Gerschgorin and His Circles, Springer-Verlag, Berlin, Germany, 2004.
  25. J. A. Fax and R. M. Murray, "Information ow and cooperative control of vehicle formations", IEEE Transactions on Automatic Control, vol. 49, no. 9, pp. 1465-1476, 2004.
  26. Olfati-Saber, R. , and Murray, R. M. , "Consensus Problems in Networks of Agents with Switching Topology and Time-Delays," in the special issue of the IEEE Transactions On Automatic Control on Networked Control Systems, Vol. 49, No. 9, Sept. 2004.
  27. Alejandro Rodriguez-Angeles and Henk Nijmeijer "Mutual Synchronization of Robots via Estimated: State Feedback: A Cooperative Approach" IEEE Transactions On Control Systems Technology, Vol. 12, No. 4, July 2004.
  28. Dong Sun "Position synchronization of multiple motion axes with adaptative coupling control", Automatica, vol. 39, no. 6, pp. 997-1005, 2003.
  29. A. Jadbabaie, J. Lin, and A. S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules", IEEE Transactions on Automatic Control, vol. 48, no. 6, pp. 988-1001, June 2003.
  30. Ribichini, G. ; Frazzoli, E. ; E–cient coordination of multiple-aircraft systems, IEEE conference on Decision and Control Proceeding, pp. 1035-1040, December 2003.
  31. A. Rodriguez-Angeles; H. Nijmeijer, Coordination of two robot manipulators based on position measurements only , International Journal of Control, 1366-5820, Volume 74, Issue 13, Pages 1311-1323, 2001.
  32. WONG LEE, K. , and KHALIL, H. K. , Adaptive output feedback control of robot manipulators using high-gain observer. Int. J. of Control, 67, pp. 869886, 1997.
  33. LIU, Y. -H. , XU, Y. , and BERGERMAN, M. , Cooperation control of multiple manipulators with passive joints. IEEE Trans. Robotics Automation, 15, pp. 258-267, 1999.
  34. J. Tarn, A. K. Bejczy, "Intelligent planning and control for multirobot coordination: An event-based approach", IEEE Transcations on Robotics and Automation, vol. 12, no. 3, pp. 439-452, 1996.
Index Terms

Computer Science
Information Sciences

Keywords

Cooperative Control Adaptive Mutual Synchronization Robots Coordination Graph Theory Backstepping Control

Powered by PhDFocusTM