Por favor, use este identificador para citar o enlazar este ítem: http://bibdigital.epn.edu.ec/handle/15000/9336
Título : Output Feedback Adaptive Decentralized Control of Cooperative Robots
Autor : Sadati, Nasser
Elhamifar, Ehsan
Palabras clave : SISTEMAS DE CONTROL
MANIPULADORES
ROBÓTICA
Fecha de publicación : 21-mar-2007
Resumen : 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.
URI : http://bibdigital.epn.edu.ec/handle/15000/9336
Aparece en las colecciones: 2005 International Conference on Industrial Electronics and Control Applications (FIEE)

Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
P0168.pdf301,85 kBAdobe PDFVisualizar/Abrir


Este ítem está protegido por copyright original



Los ítems de DSpace están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.