Distributed Cooperative Control from Position Motion to Interaction Synchronization

A distributed interaction control based on impedance frame is proposed in Euler-Lagrangian network system to achieve multi-agents interaction synchronization. Considering the different control objective of task space, a unified impedance dynamics is studied to realize two control modes transformation from position tracking to interaction synchronization by the impedance parameter regulation. The constrained conditions of variable impedance parameters is discussed to design a reasonable distributed controller by Lyapunov technique. Finally, The effectiveness of the proposed controller is validated by simulations on a multi-robots network system with 4 nodes.