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Motion Synchronization Control of Distributed Multisubsystems With Invariant Local Natural Dynamics

Authors
Cheong, JoonoNiculescu, Silviu-IulianKim, Chano
Issue Date
4월-2009
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Distributed systems; dynamic scaling; motion synchronization; time delay
Citation
IEEE TRANSACTIONS ON ROBOTICS, v.25, no.2, pp.382 - 398
Indexed
SCIE
SCOPUS
Journal Title
IEEE TRANSACTIONS ON ROBOTICS
Volume
25
Number
2
Start Page
382
End Page
398
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/120308
DOI
10.1109/TRO.2008.2011529
ISSN
1552-3098
Abstract
This paper addresses a new control strategy for synchronizing two or more distributed and interconnected dynamic systems having communication time delays. The proposed strategy that uses the Smith predictor principle and delay information not only achieves synchronization but also preserves the natural local dynamics of each subsystem without being affected by the feedback nature of control. The proposed synchronization scheme is generalized to cases that deal with an arbitrary number of heterogeneous interconnected systems through dynamic scaling of input under a ring-type network configuration. In addition, possibility of applying the proposed scheme to nonlinear systems is discussed. Simulation and experimental tests are conducted to validate theoretical results.
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