Synchronization of Euler-Lagrange systems

In this thesis, the synchronization problem of nonlinear dynamical systems described by Euler-Lagrange equations is studied, under both coordinated and cooperative schemes. In the first part of this thesis, the coordination of robots, i.e. Master-Slave Synchronization, is discussed and the Dynamical Model Based Nonlinear Control mechanism is presented. For the synchronization error between Master and Slave robots, global asymptotical stability is proved by Lyapunov-type stability analysis. The parametric uncertainty case for the given system is also studied and the simulation results of a two robot manipulator network are presented to illustrate the feasibility of the proposed adaptive controller mechanism. In the second part of the thesis, the synchronization problem of a robot group following the same desired trajectory, under a cooperative scheme, is investigated. In this context, Exact Model Knowledge-Based and Adaptive Control schemes are designed and global asymptotical synchronization is guaranteed. Lastly, simulation results on a three robot manipulator network are presented to illustrate the effectiveness of the proposed adaptive controller mechanism.