CaltechAUTHORS
  A Caltech Library Service

Global stability for distributed systems with changing contact states

Murphey, T. D. and Burdick, J. W. (2001) Global stability for distributed systems with changing contact states. In: Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium. Vol.1. IEEE , Piscataway, NJ, pp. 214-219. ISBN 0-7803-6612-3. https://resolver.caltech.edu/CaltechAUTHORS:20190625-073738803

[img] PDF - Published Version
See Usage Policy.

669Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190625-073738803

Abstract

Analyzes the global stability of distributed manipulation control schemes. The "programmable vector field" approach, which assumes that the system's control actions can be approximated by a continuous vector force field, is a commonly proposed scheme for distributed manipulation control. In practical implementations, the continuous control force field idealization must then be adapted to the specifics of the discrete physical actuator array. However, in Murphey and Burdick (2001) it was shown that when one takes into account the discreteness of actuator arrays and realistic models of the actuator/object contact mechanics, the controls designed by the continuous approximation approach can be unstable at the desired equilibrium configuration. We introduced a discontinuous feedback law that locally stabilizes the manipulated object at the equilibrium. However, the stability of this feedback law only holds in a neighborhood of the equilibrium. In this paper we show how to combine the programmable vector field approach and our local feedback stabilization law to achieve a globally stable distributed manipulation control system. Simulations illustrate the method.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2001.973361DOIArticle
Additional Information:© 2001 IEEE. This work was partially supported by a grant from the National Science Foundation (grant NSF9402726) through its Engineering Research Center (ERC) program.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
Record Number:CaltechAUTHORS:20190625-073738803
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-073738803
Official Citation:T. D. Murphey and J. W. Burdick, "Global stability for distributed systems with changing contact states," Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), Maui, HI, USA, 2001, pp. 214-219 vol.1. doi: 10.1109/IROS.2001.973361
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96679
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:30
Last Modified:03 Oct 2019 21:24

Repository Staff Only: item control page