Multi-Pendulum Synchronization Using Constrained Agreement Protocols

Rahul Chipalkatty; Magnus Egersted; Shun-Ichi Azuma

2nd International ICST Conference on Robot Communication and Coordination

Research Article

Multi-Pendulum Synchronization Using Constrained Agreement Protocols

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@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2009.5834,
    author={Rahul Chipalkatty and Magnus Egersted and Shun-Ichi Azuma},
    title={Multi-Pendulum Synchronization Using Constrained Agreement Protocols},
    proceedings={2nd International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2009},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2009.5834}
}

Rahul Chipalkatty
Magnus Egersted
Shun-Ichi Azuma
Year: 2009
Multi-Pendulum Synchronization Using Constrained Agreement Protocols
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2009.5834

Rahul Chipalkatty¹, Magnus Egersted¹, Shun-Ichi Azuma²

1: Georgia Institute of Technology, Atlanta, GA 30332, USA
2: Graduate School of Informatics, Kyoto University, Uji, Kyoto 611-0011, Japan

Abstract

This paper considers the problem of coordinating multiple pendula attached to mobile bases. In particular, the pendula should move in such a way that their motion is synchronized, which calls for two problems to be solved simultaneously, namely a constrained optimal control problem for each pendulum, and a constrained agreement problem across the network of pendula. A novel way of manipulating the initial conditions in the consensus equation is presented that will solve the latter of these problems, and simulation results are presented that support the viability of the proposed approach.

Published: 2009-05-19
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2009.5834