Yüksek LisansAçık Erişim

Synchronization of Euler-Lagrange systems

2013
0 görüntülenme
0 i̇ndirme
Danışman: Yrd. Doç. Janset Daşdemir

Özet (EN)

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.

Yazar

Elif Çiçek

Bu Yayına Nasıl Atıf Yapılır

Elif Çiçek (Master Thesis). Synchronization of Euler-Lagrange systems, 2013, Yıldız Technical University.

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