Title: Non-linear adaptive synchronisation control of multi-agent robotic systems

Authors: Yassine Bouteraa; Jawhar Ghommam; Nabil Derbel; Gérard Poisson

Addresses: Research Unit on Intelligent Control, Design and Optimisation of Complex Systems, Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia; Institut Prisme, SRI 63 Avenue de Lattre de Tassigny, 18020 Bourges Cedex, France. ' Research unit on Intelligent Control, Design and Optimisation of Complex Systems, Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia. ' Research unit on Intelligent Control, Design and Optimisation of Complex Systems, Sfax Engineering School, University of Sfax, BP W, 3038 Sfax, Tunisia. ' Institut Prisme, SRI 63 Avenue de Lattre de Tassigny, 18020 Bourges Cedex, France

Abstract: In this article, an internal and an external synchronisation have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronise the movement of robot group tracking the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronisation topology, robot network requires only local neighbour-to-neighbour information exchange between robots. The interaction topology of agents network is represented using an undirected graph. However the objective of the external synchronisation coordinated scheme is to design interconnections and feedback controllers for slaves, such that their positions and velocities synchronise to those of the leader robot. It is assumed that robots in cooperation have the same joints number and equivalent joint work spaces. The proposed adaptive law based on combination of Lyapunov direct method and concepts from cross-coupling control has been developed to guarantee asymptotic convergence to zero of both position and synchronisation errors.

Keywords: cooperative control; synchronisation control; decentralised trajectory tracking; tracking control; adaptive control; coupling control; nonlinear control; robot control; multi-agent systems; agent-based systems; multi-robot systems; multiple robots; robot tracking; cooperating robots; robot coordination.

DOI: 10.1504/IJSCC.2012.045931

International Journal of Systems, Control and Communications, 2012 Vol.4 No.1/2, pp.55 - 71

Available online: 19 Mar 2012 *

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