Motion Duplication Control for Distributed Dynamic Systems by Natural Damping

— This paper proposes a motion duplication control scheme, which not only synchronizes motions between two distributed separate dynamic systems but also perfectly preserves prescribed dynamics. The proposed scheme sophisticatedly utilizes two-way Smith predictor to meet the simultaneous purposes. Closed loop behavior is mathematically investigated, and stability via natural damping and robustness are analyzed over the system, by examining the characteristic equation with delay components. Ways to compute robust stability margins are presented under the uncertainties in plant dynamics and amount of delay. Numerical simulations are presented to verify the theoretical results proposed in this paper.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Joono Cheong, Seungjin Lee, Jung Kim
• Keywords: Duplication Control Scheme, ICRA 2006, Robotics, Robust Stability Margins, Two-way Smith Predictor