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— In this paper we study the problem of exponential synchronization for one of the most popular models of coupled phase oscillators, the Kuramoto model. We consider the special case of finite oscillators with distinct, bounded natural frequencies. Our first result derives a lower bound on the coupling gain which is necessary for the onset of(More)
Bilateral teleoperators, designed within the passivity framework using concepts of scattering and two-port network theory, provide robust stability against constant delay in the network and velocity tracking, but cannot guarantee position tracking in general. In this paper we fundamentally extend the passivity-based architecture to guarantee state(More)
— To accomplish cooperative tasks, robotic systems are often required to communicate with each other. Thus, maintaining connectivity of the interagent communication graph is a fundamental issue in the field of multi–robot systems. In this paper we present a completely decentralized control strategy for global connectivity maintenance of the interagent(More)
—Passivity-based control has emerged as an important paradigm for synchronization of networked robotic systems. Despite the practical utility of task space algorithms, the previous results focussed on joint space synchronization, and were primarily derived for kinematically identical manipulators. Hence, in this paper the problem of task space(More)
— In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory(More)
— In this paper, we investigate issues in the discrete-time implementation of passivity based control of bilateral teleoperators. The usual scattering formalism which, in continuous time, guarantees passivity for any constant delay, is extended in several important ways to the discrete domain, in particular to the case where communication between the master(More)
—This paper addresses the problem of steady-state position and force tracking in bilateral teleoperation. Passivity-based control schemes for bilateral teleoperation provide robust stability against network delays in the feedback loop and velocity tracking, but do not guarantee steady-state position and force tracking in general. Position drift due to data(More)
—This work introduces a control algorithm that, exploiting a completely decentralized estimation strategy for the algebraic connectiv-ity of the graph, ensures the connectivity maintenance property for multi– robot systems, in the presence of a generic (bounded) additional control term. This result is obtained driving the robots along the negative gradient(More)
— In this paper we propose a systematic methodology for designing implicitly verified event-triggered dynamic output feedback controllers for LTI systems that are observable and controllable. Event-triggering conditions that depend only on local information are proposed for sampled-data implementation of the observer and the controller in three different(More)