DECENTRALIZED CONTROL OF ROBOT MANIPULATORS VIA STATE AND PROPORTIONAL-INTEGRAL FEEDBACK.

Farshad Khorrami, Umit Ozguner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Asymptotic regulation to a constant set-point by state feedback, and PI (proportional integral) control is considered for n-link multibody systems. Global asymptotic stability of these regulators is shown using Lyapunov's direct methods. The main contribution is the exclusion of explicit gravity cancellation. The implication of the above is the ensuing robustness of the controllers to parameter and payload variations. Furthermore, it is shown that the controllers can be implemented in a decentralized manner at each joint despite the nonlinear interconnections among the joints.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1198-1203
Number of pages6
ISBN (Print)0818608528
StatePublished - Jan 1 1988

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Khorrami, F., & Ozguner, U. (1988). DECENTRALIZED CONTROL OF ROBOT MANIPULATORS VIA STATE AND PROPORTIONAL-INTEGRAL FEEDBACK. In Unknown Host Publication Title (pp. 1198-1203). IEEE.