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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)
— The current interest in coordinating nonlinear dynamical systems with safety guarantees is driven by emerging practical applications. One of the primary objectives in coordination of multiple mechanical systems (agents) is velocity synchronization with guarantees for collision avoidance among the agents. However, previous results in this direction assume(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)
— 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)
This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoper-ation. The problem is motivated by the increasing use of the Internet as a communication medium where the time delay is variable depending on factors such as congestion , bandwidth, or distance. The well-known scattering formalism introduced in [1](More)
This paper addresses the problem of time-varying communication delay in force reflecting bilateral teleoperation. The problem is motivated by the increasing use of the Internet as a communication medium where the time delay varies depending on factors such as congestion, bandwidth, or distance. The well-known scattering formalism introduced in (Ander-son(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)