Decentralized Differential Tracker Based Control of Reconfigurable Manipulators without Velocity Sensor
This paper presents a decentralized control scheme for reconfigurable manipulator without velocity sensor.In order to handle the problem for lacking velocity signal in each module joint,a decentralized differential tracker and the measured position signal are employed to reconstruct the velocity signal,which can be used to feedback to the designed controller.Consider the model uncertainty,dynamic friction,and the interconnection term among the module joints,the compensated controller is designed through the adaptive fuzzy logic.And then,the system stability is asymptotically guaranteed by Lyapunov stability theory.At last,the numerical simulation results from two different 2-DOF reconfigurable manipulators demonstrate the effectiveness of the proposed scheme.
Reconfigurable manipulators Decentralized control Decentralized differential tracker Velocity signal reconstruction Fuzzy logic controller
ZHAO Bo LI Yuanchun
Department of Control Science and Engineering,Jilin University,Changchun 130022,China Department of Control Science and Engineering,Jilin University,Changchun 130022,China;Department of
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8370-8374
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）