A new architecture for set-point control of robotic manipulators with time-varying input/output delays

Yen Chen Liu, Nikhil Chopra

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

In this paper we study the classical set-point control problem for rigid robots when there are time-varying delays in the input-output channels. It has been demonstrated earlier that scattering variables together with additional gains can be utilized to stabilize the closed loop system in the presence of time-varying delays. However, this architecture is not able to guarantee asymptotic regulation to the desired configuration, and the stability depends on the maximum rate of change of the time-varying delays in the communication. Hence, in this paper, we present a new architecture where scattering variables and position feedback are utilized to guarantee stability and asymptotic convergence of the regulation error to the origin while simultaneously relaxing a significant assumption on the rate of change of delays. The proposed algorithm is numerically verified on a two-degree-of-freedom manipulator.

原文English
主出版物標題ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
頁面129-136
頁數8
DOIs
出版狀態Published - 2011 十二月 1
事件ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
持續時間: 2011 十月 312011 十一月 2

出版系列

名字ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
2

Other

OtherASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
國家United States
城市Arlington, VA
期間11-10-3111-11-02

All Science Journal Classification (ASJC) codes

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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