Please use this identifier to cite or link to this item:
http://bibdigital.epn.edu.ec/handle/15000/9336
Title: | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
Authors: | Sadati, Nasser Elhamifar, Ehsan |
Keywords: | SISTEMAS DE CONTROL MANIPULADORES ROBÓTICA |
Issue Date: | 21-Mar-2007 |
Abstract: | 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 |
Type: | Article |
Appears in Collections: | 2005 International Conference on Industrial Electronics and Control Applications (FIEE) |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.