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https://idr.nitk.ac.in/jspui/handle/123456789/15647
Title: | Model-based, Distributed, and Cooperative Control of Planar Serial-link Manipulators |
Authors: | Soumya S. Guruprasad K.R. |
Issue Date: | 2021 |
Citation: | International Journal of Control, Automation and Systems Vol. 19 , 2 , p. 850 - 863 |
Abstract: | 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. © 2020, ICROS, KIEE and Springer. |
URI: | https://doi.org/10.1007/s12555-020-0031-7 http://idr.nitk.ac.in/jspui/handle/123456789/15647 |
Appears in Collections: | 1. Journal Articles |
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