Interconnecting Robotic Subsystems in a Network
Last modified: May 30, 2006
This paper analyzes how the interconnection of subsystems affects the network dynamics of the overall systemís connective stability. Some closed form equations for the magnitude of the interaction between subsystems are obtained to aid in the design of nearest neighbor interconnected subsystems or fully interconnected subsystems. In this paper, the preliminaries for decentralized control of large scale systems are introduced, and the connective stability analysis of multiple subsystems using Lyapunov vector functions are addressed. Three types of network interconnections are then defined. State space representation for the robot dynamics are defined, which then proceeds to a complete definition of the parameters for two subsystems of interest: a diagonal subsystem and the robot subsystem. The results for connective stability are computed, along with some closed form equations that are useful when designing nearest neighbor and fully interconnected subsystems.