Pose consensus in networks of heterogeneous robots with variable time delays |
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Authors: | Carlos I Aldana Eduardo Romero Emmanuel Nuño Luis Basañez |
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Affiliation: | 1. Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain;2. Electronics Department, University of Guadalajara, Guadalajara, Mexico;3. Department of Computer Science, University of Guadalajara, Guadalajara, Mexico |
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Abstract: | This paper proposes a novel pose (position and orientation) consensus controller for networks of heterogeneous robots modeled in the operational space. The proposed controller is a distributed proportional plus damping scheme that, with a slight modification, solves both the leader–follower and leaderless consensus problems. A singularity‐free representation, unit quaternion, is used to describe the robots orientation, and the network is represented by an undirected and connected interconnection graph. Furthermore, it is shown that the controller is robust to interconnection variable time delays. Experiments with a network of two 6‐degrees‐of‐freedom robots are presented to illustrate the performance of the proposed scheme. Copyright © 2014 John Wiley & Sons, Ltd. |
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Keywords: | position and orientation control leader– follower consensus leaderless consensus Euler– Lagrange systems communication delays |
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