Naslov
Passive sliding-mode synchronization of multi-robotic systems with structural uncertainties and external disturbances

Autori
Anić, Luka ; Kasać, Josip ; Novaković, Branko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proccedings of the 22nd International DAAAM Symposium / Katalinić, Branko - Beč : DAAAM International Vienna, 2011

Skup
The 22nd DAAAM International World Symposium

Mjesto i datum
Beč, Austrija, 23.11.2011. - 26.11.2011

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
synchronization; telerobotics; passivity-based control; sliding-mode control

Sažetak
In this paper a class of sliding-mode based controllers for passive synchronization of a multi-robotic system is proposed. The considered system is composed of a master robot which provides motion commands to the slave robot which performs the actual task. The conventional approach to synchronization of bilateral teleoperators is based on assumption that both robots have the same structure or regression matrix. Such an assumption allows applications of the conventional adaptive control approach for asymptotic tracking. The controller proposed in this paper provides asymptotic synchronization of master and slave robotic systems with different structural configurations. Simulation example with two robots with two revolute joints in horizontal and vertical plane demonstrates the effectiveness of the proposed control strategy.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA