Global stability for distributed systems with changing contact states

T. D. Murphey*, J. W. Burdick

*Corresponding author for this work

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

4 Scopus citations

Abstract

This paper analyzes the global stability of distributed manipulation control schemes. The "programmable vector field" approach, which assumes that the system's control actions can be approximated by a continuous vector force field, is a commonly proposed scheme for distributed manipulation control. In practical implementations, the continuous control force field idealization must then be adapted to the specifics of the discrete physical actuator array. However, in Murphey and Burdick [2001] it was shown that when one takes into account the discreteness of actuator arrays and realistic models of the actuator/object contact mechanics, the controls designed by the continuous approximation approach can be unstable at the desired equilibrium configuration. We introduced a discontinuous feedback law that locally stabilizes the manipulated object at the equilibrium. However, the stability of this feedback law only holds in a neighborhood of the equilibrium. In this paper we show how to combine the programmable vector field approach and our local feedback stabilization law to achieve a globally stable distributed manipulation control system. Simulations illustrate the method.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages214-219
Number of pages6
Volume1
StatePublished - Dec 1 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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