Smooth feedback control algorithms for distributed manipulators

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

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations


This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law scales linearly with the number of actuators and is simple to implement. Moreover, we prove that control law has desirable robustness properties in the presence of the nonsmooth mechanics inherent in distributed manipulation systems that rely upon frictional contact. This algorithm has been implemented on an experimental distributed manipulation test-bed, whose structure is briefly reviewed. The experimental results confirm the validity and performance of the algorithm.

Original languageEnglish (US)
Pages (from-to)3619-3623
Number of pages5
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

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

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