Experiments in nonsmooth control of distributed manipulation
نویسندگان
چکیده
This paper describes an experimental modular distributed manipulation system upon which one can implement a variety of control schemes. We have shown elsewhere that when one includes the nonsmooth effects of friction into a model of distributed manipulation, nonsmooth feedback laws must generally be used to control distributed manipulators. We summarize results obtained with this experimental system that confirm the validity of control schemes proposed by the authors in recent papers (see [13, 14]). We describe the control algorithms in some detail and include specifics of the experimental set-up and experimental results.
منابع مشابه
Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts
This paper introduces feedback control methods for distributed manipulation systems that move objects via rolling and slipping point contacts. Due to the intermittent nature of these mechanical contacts, the governing mechanics of these systems are inherently nonsmooth. We first present a methodology to model these nonsmooth mechanical effects in a manner that is tractable for nonsmooth control...
متن کاملSmooth feedback control algorithms for distributed manipulators
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...
متن کاملA General Scalar-Valued Gap Function for Nonsmooth Multiobjective Semi-Infinite Programming
For a nonsmooth multiobjective mathematical programming problem governed by infinitely many constraints, we define a new gap function that generalizes the definitions of this concept in other articles. Then, we characterize the efficient, weakly efficient, and properly efficient solutions of the problem utilizing this new gap function. Our results are based on $(Phi,rho)-$invexity,...
متن کاملFrom geometric optimization and nonsmooth analysis to distributed coordination algorithms
We investigate the coordination of groups of autonomous robots performing spatially-distributed sensing tasks. We present facility location functions from geometric optimization and study their differentiable properties. We then design distributed coordination algorithms and analyze them as nonsmooth gradient flows. The resulting control laws correspond to basic interaction behaviors between th...
متن کاملCoordination and Geometric Optimization via Distributed Dynamical Systems
This paper discusses dynamical systems for disk-covering and sphere-packing problems. We present facility location functions from geometric optimization and characterize their differentiable properties. We design and analyze a collection of distributed control laws that are related to nonsmooth gradient systems. The resulting dynamical systems promise to be of use in coordination problems for n...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2003