Synchronization of Interconnected Robots Using Distributed H∞ Controllers

Abstract

Synchronization problem of networked robotic manipulators in the presence of dynamical uncertainties is investigated in this paper. The notion of nonlinear H∞ control is employed in order to design distributed static feedback controllers to achieve synchronized trajectory tracking in a team of connected robots with balanced and strongly connected communication topology. By using appropriate forms for storage function and uncertainties, solving Hamilton Jacobi (HJ) inequality (or equality) which is commonly encountered in H∞ framework, is avoided in the proposed scheme. Gains of static feedback controllers are determined by solving computationally amenable matrix inequalities. Simulation results for a network of two-link manipulators are given to demonstrate the effectiveness of the proposed control strategy.