Robust SMC for synchronization of networked time delay robotic systems

Abstract

A finite time stability procedure is proposed for a networked robotic system, where it appears a disruptive time delay impact during the communication between system agents. Then, a distributed SMC algorithm in the presence of a delayed information exchange is discussed. The algorithm, which is derived from the cross coupling design and consensus theory, enables cooperative robots to accomplish a shared task and to compensate the communication time delay existence. Besides, the stability analysis of the SMC with synchronization of time delay multi-robot systems has been proved. Simulation results performed on a cooperative multi-agent system with constant communication time delays have illustrated good and satisfactory performances which verify the effectiveness of the SMC synchronizing algorithm and theoretical analysis.