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Global exponential stabilizability for distributed manipulation systems

Murphey, T. D. and Burdick, J. W. (2002) Global exponential stabilizability for distributed manipulation systems. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1210-1216. ISBN 0-7803-7272-7. https://resolver.caltech.edu/CaltechAUTHORS:20190625-091014567

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Abstract

Considers the global exponential stability of planar distributed manipulation control schemes. The programmable vector field approach is a commonly proposed method for distributed manipulation control. The authors (2001) showed that when one takes into account the discreteness of actuator arrays and the mechanics of actuator/object contact, the controls designed by the programmable vector field approach can be unstable at the desired equilibrium configuration. We show here how a discontinuous feedback law that locally stabilizes the manipulated object at the equilibrium can be combined with the programmable vector field approach to control the object's motions. We prove that the combined system is globally exponentially stabilizable even in the presence of changes in contact state. Simulations illustrate the results.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.2002.1014708DOIArticle
Additional Information:© 2002 IEEE. This work was partially supported by a grant from the National Science Foundation (grant NSF9402726) through its Engineering Research Center (ERC) program.
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Funding AgencyGrant Number
NSFEEC-9402726
Record Number:CaltechAUTHORS:20190625-091014567
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-091014567
Official Citation:T. D. Murphey and J. W. Burdick, "Global exponential stabilizability for distributed manipulation systems," Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), Washington, DC, USA, 2002, pp. 1210-1216 vol.2. doi: 10.1109/ROBOT.2002.1014708
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96685
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:17
Last Modified:03 Oct 2019 21:24

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