Cart (Loading....) | Create Account
Close category search window
 

Decentralized control of robot manipulators via state and proportional-integral feedback

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Khorrami, F. ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; Ozguner, U.

Asymptotic regulation to a constant set-point by state feedback, and PI (proportional integral) control is considered for n-link multibody systems. Global asymptotic stability of these regulators is shown using Lyapunov's direct methods. The main contribution is the exclusion of explicit gravity cancellation. The implication of the above is the ensuing robustness of the controllers to parameter and payload variations. Furthermore, it is shown that the controllers can be implemented in a decentralized manner at each joint despite the nonlinear interconnections among the joints

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.