Robust synchronization of networked manipulators using distributed dynamic H∞ controllers. (December 2018)

• Record Type: Journal Article
• Authors: Seyed Alinezhad, Haniyeh; Hosseinzadeh Yamchi, Mohammad; Mahboobi Esfanjani, Reza
• Is Part Of: ISA transactions. Volume 83(2018)
• Page Start: 239
• Page End: 247
• Publication Date: 2018-12
• Subjects: Networked manipulators -- Synchronization -- Parametric uncertainty -- H∞ control; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2018.09.011
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: In this note, the problem of synchronization of networked non-identical manipulators is investigated in the presence of model uncertainties. The notion of nonlinear H ∞ control is employed to design distributed output-feedback dynamic controllers for robust synchronization of the robots. The parameters of the synchronizing controllers are computed by solving a set of computationally tractable matrix inequalities instead of finding the solution of complicated differential inequalities which are usually encountered in the nonlinear H ∞ context. Comparative simulation results are presented to verify the efficiency and applicability of the proposed method. Highlights: Distributed H ∞ controllers are designed for synchronization of non-identical manipulators. The inequality of H ∞ performance in a single nonlinear system is extended for the connected systems. Dynamical controllers are used to improve the transient behavior of synchronization. A computationally tractable procedure is proposed for computing controller gains.