Model-based, Distributed, and Cooperative Control of Planar Serial-link Manipulators
| Autor: | S. Soumya, K. R. Guruprasad |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Robotics 02 engineering and technology Nonlinear control Revolute joint Mechatronics Computer Science Applications Nonlinear system 020901 industrial engineering & automation Control and Systems Engineering Linearization Control theory Trajectory Artificial intelligence business |
| Zdroj: | International Journal of Control, Automation and Systems. 19:850-863 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-020-0031-7 |
| Popis: | In this paper, we propose a novel distributed control scheme for a planar serial-link manipulator with revolute joints. The control scheme is based on the conventional model-based nonlinear control scheme that achieves linearization by feedback. A dedicated controller controls each joint of the manipulator, as in the case of the decentralized manipulator control scheme. However, in the proposed control scheme, the joint-level controllers communicate and cooperate to account for the nonlinear dynamic coupling between the links. The proposed control scheme can achieve the performance level of that of the model-based nonlinear control scheme, and at the same time, reduce the computational lead-time by distributing the computational load associated with the control law among the joint-level controllers. We design a distributed cooperative control law for a three-link planar manipulator and demonstrate its trajectory tracking performance using simulation experiments. |
| Databáze: | OpenAIRE |
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