Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applic

Abstract

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 the position and the velocity state vectors of agents. Then, it has been proved that the synchronizing algorithm enables cooperative agents, acting in a disturbed environment, to efficiently accomplish a shared task and to compensate delayed communication data. The proposed controller has been implemented in a cooperative robotic system, where the controller proves its robustness face to disturbances.

Decentralized Control Approaches of Large-Scale Interconnected Systems

“…The robust decentralized control is presented in [7][8][9]. The decentralized control using sliding mode approach is developed in [10][11][12][13]. Decentralized stabilization problem is the subject of our work.…”