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Output feedback adaptive decentralized control of cooperative robots

Sadati, N ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.1109/ICIECA.2005.1644376
  3. Publisher: IEEE Computer Society , 2005
  4. Abstract:
  5. In this paper a decentralized control scheme for multiple cooperative manipulators is developed to achieve the desired performance in motion and force tracking, in the presence of uncertainties in dynamic equations of the robots. To eliminate the effects of uncertainties in the closed-loop performance, a new adaptive control algorithm is proposed. Based on the Lyapunov stability method, it is proved that all the error signals in the closed-loop system which is compose of a robot, an observer and a controller asymptotically converge to zero. Also to avoid the difficulties of using velocity sensors within the cooperative system, an output feedback control scheme with a linear observer is used. © 2005 IEEE
  6. Keywords:
  7. Adaptive algorithms ; Adaptive control systems ; Closed loop control systems ; Decentralized control ; Feedback control ; Manipulators ; Adaptive decentralized control ; Cooperative robots ; Cooperative systems ; Linear observers ; Robots
  8. Source: ICIECA 2005: International Conference on Industrial Electronics and Control Applications 2005, Quito, 29 November 2005 through 2 December 2005 ; Volume 2005 , 2005 ; 0780394194 (ISBN); 9780780394193 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/1644376