Robust synchronization of networked manipulators using distributed dynamic H ∞ controllers.

In this note, the problem of synchronization of networked non-identical manipulators is investigated in the presence of model uncertainties. The notion of nonlinear H∞ control is employed to design distributed output-feedback dynamic controllers for robust synchronization of the robots. The parameters of the synchronizing controllers are computed by solving a set of computationally tractable matrix inequalities instead of finding the solution of complicated differential inequalities which are usually encountered in the nonlinear H∞ context. Comparative simulation results are presented to verify the efficiency and applicability of the proposed method.