Predefined-time control of cooperative manipulators

被引：23

作者：

Munoz-Vazquez, Aldo Jonathan ^{[1
]}

Sanchez-Torres, Juan Diego ^{[2
]}

机构：

[1] Texas A&M Univ, Coll Engn, College Stn, TX USA

[2] ITESO, Dept Math & Phys, Tlaquepaque, Jalisco, Mexico

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2020年 / 30卷 / 17期

关键词：

cooperative robotic manipulators; force control; predefined-time stability; sliding mode control; POSITION/FORCE CONTROL SCHEME; TRACKING; STABILIZATION; STABILITY; ROBOTS;

D O I：

10.1002/rnc.5171

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A cooperative controller that enforces an exact sliding motion in predefined-time, assuring cooperativeness, and stable manipulation, is proposed in this article. Alternatively, a continuous controller is also proposed, which induces in predefined-time that a hybrid force/position error converges into a predefined-bounded vicinity of the origin. Numerical simulations highlight the effectiveness of the proposed scheme.

引用

页码：7295 / 7306

页数：12

共 34 条

[1] A class of robust consensus algorithms with predefined-time convergence under switching topologies [J].

Aldana-Lopez, Rodrigo ;

Gomez-Gutierrez, David ;

Defoort, Michael ;

Diego Sanchez-Torres, Juan ;

Jonathan Munoz-Vazquez, Aldo .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2019, 29 (17) :6179-6198

[2] Enhancing the settling time estimation of a class of fixed-time stable systems [J].

Aldana-Lopez, Rodrigo ;

Gomez-Gutierrez, David ;

Jimenez-Rodriguez, Esteban ;

Diego Sanchez-Torres, Juan ;

Defoort, Michael .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2019, 29 (12) :4135-4148

[3] JOINT-SPACE ORTHOGONALIZATION AND PASSIVITY FOR PHYSICAL INTERPRETATIONS OF DEXTEROUS ROBOT MOTIONS UNDER GEOMETRIC CONSTRAINTS [J].

ARIMOTO, S .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 1995, 5 (04) :269-284

[4] Predefined-Time Convergence Control for High-Order Integrator Systems Using Time Base Generators [J].

Becerra, Hector M. ;

Vazquez, Carlos R. ;

Arechavaleta, Gustavo ;

Delfin, Josafat .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (05) :1866-1873

[5] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[6] Uniform Robust Exact Differentiator [J].

Cruz-Zavala, Emmanuel ;

Moreno, Jaime A. ;

Fridman, Leonid M. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2011, 56 (11) :2727-2733

[7] A class of predefined-time stable dynamical systems [J].

Diego Sanchez-Torres, Juan ;

Gomez-Gutierrez, David ;

Lopez, Esteban ;

Loukianov, Alexander G. .

IMA JOURNAL OF MATHEMATICAL CONTROL AND INFORMATION, 2018, 35 :1-29

[8] Physically Plausible Wrench Decomposition for Multieffector Object Manipulation [J].

Donner, Philine ;

Endo, Satoshi ;

Buss, Martin .

IEEE TRANSACTIONS ON ROBOTICS, 2018, 34 (04) :1053-1067

[9] Model and Analysis of the Interaction Dynamics in Cooperative Manipulation Tasks [J].

Erhart, Sebastian ;

Hirche, Sandra .

IEEE TRANSACTIONS ON ROBOTICS, 2016, 32 (03) :672-683

[10]

García-Rodríguez R, 2005, 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, P3200

← 1 2 3 4 →