Practical stabilization of robotic systems by decentralized control

DOI10.1016/0005-1098(84)90050-5MaRDI QIDQ759702zbMATH OpenOpenAlexFDO

Authors D. Kharzeev

Publication date 1984

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0005-1098(84)90050-5

zbMATH Keywords

decentralized controllarge-scale robotic systemspractical stability

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Large-scale systems (93A15) Synthesis problems (93B50) Linear systems in control theory (93C05) Control/observation systems governed by ordinary differential equations (93C15) Stabilization of systems by feedback (93D15)

Review text

The practical stability of large-scale robotic systems with variable parameters is considered. The control should ensure the system state to belong to a finite region around the nominal trajectory for various values of parameters. The robotic system is considered as a set of decoupled subsystems each of which corresponds to one degree of freedom. For each decoupled subsystem a local controller is synthesized ensuring the practical stability of free subsystem. Then the practical stability of the coupled global system is analysed for various values of mechanical parameters. This permits the synthesis of decentralized control which provides practical stabilization of robotic systems in given finite regions and for the given set of allowable parameter values. Global control is also introduced. Decentralized control for a manipulation robot with variable payload is synthesized.

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Cites work

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• scientific article; zbMATH DE number 3889386 (Why is no real title available?)
• scientific article; zbMATH DE number 3598283 (Why is no real title available?)
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Cited in

(6)

• Global connective stability of a class of robotic manipulators
• Suboptimal synthesis of a robust decentralized control for large-scale mechanical systems
• Decentralized robust control system design for large-scale uncertain systems
• A two-level control strategy for robot manipulators
• Practical stability of a moving robot with respect to given domains
• Stability of robotic manipulators during transition to and from compliant motion

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