Application of supervisory control methods to uncertain multiple contact mechanical systems

Todd D. Murphey*

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


Estimation of contact state is important to any multi-point interaction that involves frictional stick/slip phenomena. In particular, when there are more kinematic constraints than there are degrees of freedom, some contact interfaces must slip, leading to the need for contact state estimation. Fortunately, supervisory control techniques from adaptive control can be applied to this problem with relatively little modification. We discuss this approach in terms of a distributed manipulation experiment developed to explore overconstrained manipulation. In this context, we show in a simulated model that on-line contact state estimation dramatically improves performance over methods that estimate contact states off-line.

Original languageEnglish (US)
Article numberWeB07.5
Pages (from-to)774-780
Number of pages7
JournalProceedings of the American Control Conference
StatePublished - Sep 1 2005
Event2005 American Control Conference, ACC - Portland, OR, United States
Duration: Jun 8 2005Jun 10 2005

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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