Differential Flatness Based Synchronization Control of Multiple Heterogeneous Robots

The problem of synchronization control of multiple heterogeneous robotic systems is discussed in this paper. Using differential flatness theory, several robots involved in a manufacturing line may be controlled for a common task. The robots are arranged in a Leader-multiple heterogeneous follower robots formation. The differential flatness property of the robots enables the selection of flat outputs which are used as synchronization control parameters. The freedom to select any flat output among the robot states provides flexibility in design of the synchronization controllers. Simulation results show fast synchronization times and accurate tracking between the Leader and heterogeneous follower robots.