Output Feedback Adaptive Decentralized Control of Cooperative Robots
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 performan...
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| Бусад зохиолчид: | |
| Формат: | article |
| Хэл сонгох: | eng |
| Хэвлэсэн: |
2007
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| Нөхцлүүд: | |
| Онлайн хандалт: | http://bibdigital.epn.edu.ec/handle/15000/9336 |
| Шошгууд: |
Шошго нэмэх
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Шошго нэмэх | _version_ | 1827332047345025024 |
|---|---|
| author | Sadati, Nasser |
| author2 | Elhamifar, Ehsan |
| author2_role | author |
| author_facet | Sadati, Nasser Elhamifar, Ehsan |
| author_role | author |
| collection | Repositorio Escuela Politécnica Nacional |
| dc.creator.none.fl_str_mv | Sadati, Nasser Elhamifar, Ehsan |
| dc.date.none.fl_str_mv | 2007-03-21T13:21:46Z 2007-03-21T13:21:46Z 2007-03-21T13:21:46Z 2010-09-07T16:42:13Z 2010-09-07T16:42:13Z 2011-03-10T14:33:33Z 2011-03-10T14:33:33Z |
| dc.identifier.none.fl_str_mv | http://bibdigital.epn.edu.ec/handle/15000/9336 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.none.fl_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Escuela Politécnica Nacional instname:Escuela Politécnica Nacional instacron:EPN |
| dc.subject.none.fl_str_mv | SISTEMAS DE CONTROL MANIPULADORES ROBÓTICA CONTROL SYSTEMS MANIPULATORS ROBOTICS |
| dc.title.none.fl_str_mv | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | EPN_8b3ea320bc044c24699fd5cd0c2f32da |
| instacron_str | EPN |
| institution | EPN |
| instname_str | Escuela Politécnica Nacional |
| language | eng |
| network_acronym_str | EPN |
| network_name_str | Repositorio Escuela Politécnica Nacional |
| oai_identifier_str | oai:bibdigital.epn.edu.ec:15000/9336 |
| publishDate | 2007 |
| reponame_str | Repositorio Escuela Politécnica Nacional |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacional |
| repository_id_str | 1553 |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| spelling | Output Feedback Adaptive Decentralized Control of Cooperative RobotsSadati, NasserElhamifar, EhsanSISTEMAS DE CONTROLMANIPULADORESROBÓTICACONTROL SYSTEMSMANIPULATORSROBOTICSIn 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.2007-03-21T13:21:46Z2010-09-07T16:42:13Z2011-03-10T14:33:33Z2007-03-21T13:21:46Z2010-09-07T16:42:13Z2011-03-10T14:33:33Z2007-03-21T13:21:46Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://bibdigital.epn.edu.ec/handle/15000/9336enghttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessreponame:Repositorio Escuela Politécnica Nacionalinstname:Escuela Politécnica Nacionalinstacron:EPN2019-04-07T23:44:52Zoai:bibdigital.epn.edu.ec:15000/9336Institucionalhttps://bibdigital.epn.edu.ec/Universidad públicahttps://www.epn.edu.ec/https://bibdigital.epn.edu.ec/oai.Ecuador...opendoar:15532019-04-07T23:44:52Repositorio Escuela Politécnica Nacional - Escuela Politécnica Nacionalfalse |
| spellingShingle | Output Feedback Adaptive Decentralized Control of Cooperative Robots Sadati, Nasser SISTEMAS DE CONTROL MANIPULADORES ROBÓTICA CONTROL SYSTEMS MANIPULATORS ROBOTICS |
| status_str | publishedVersion |
| title | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| title_full | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| title_fullStr | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| title_full_unstemmed | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| title_short | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| title_sort | Output Feedback Adaptive Decentralized Control of Cooperative Robots |
| topic | SISTEMAS DE CONTROL MANIPULADORES ROBÓTICA CONTROL SYSTEMS MANIPULATORS ROBOTICS |
| url | http://bibdigital.epn.edu.ec/handle/15000/9336 |