On the stability and design of distributed manipulation control systems

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

*Corresponding author for this work

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

7 Scopus citations

Abstract

This paper analyzes the stability of distributed manipulation control schemes. A commonly proposed method for designing a distributed actuator array control scheme assumes that the system's control action can be approximated by a continuous vector force field. The continuous control vector field idealization must then be adapted to the physical actuator array. However, we show in this paper 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. For this analysis we introduce and use a "power dissipation" method that captures the contact mechanics in a general but tractable way. We show that the quasi-static contact equations have the form of a switched hybrid system. We introduce a discontinuous feedback law can produce stability which is robust with respect to variations in contact state.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2686-2691
Number of pages6
DOIs
StatePublished - 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

Other2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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