Adaptive synchronization control of multi-robot teams: Cooperative and coordinated schemes

  title={Adaptive synchronization control of multi-robot teams: Cooperative and coordinated schemes},
  author={Yassine Bouteraa and Jawhar Ghommam and Nabil Derbel and G{\'e}rard Poisson},
  journal={18th Mediterranean Conference on Control and Automation, MED'10},
In this article, an internal and an external synchronization have been investigated, in the presence of uncertain parameters. The proposed controller is designed to synchronize the movement of robot group following the same desired trajectory. To this effect, using a consensus algorithm, we provide an adaptive control under two different schemes. In the mutual synchronization topology, robots network requires only local neighbor-to- neighbor information exchange between robots. The interaction… Expand
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