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Author/Affiliation: Fatma Abdelhedi
A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances
In this paper, a delay-dependent controller based on the sliding mode concept is proposed to stabilize a networked robotic system in a decentralized synchronization scheme. In addition to being affected by communication time-delays between agents, and seen that external disturbances obviously affect any physical and dynamic system, an unsettling action resulting from measurement errors affects…
Read More A synchronizing second order sliding mode control applied to decentralized time delayed multi-agent robotic systems: Stability Proof
This study investigates the synchronization issue of multiple robot manipulators in the presence of time delay. Since several previous works based on synchronization task neglect the communication delay, in this paper we develop a finite time stability based on a Lyaponov functional for synchronization of a networked robotic system where time delay exists during the…
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