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Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements

Autor
Nuño, E.; Ortega, R.; Jayawardhana, B.; Basañez, L.
Tipus d'activitat
Article en revista
Revista
European journal of control
Data de publicació
2013-12
Volum
19
Número
3
Pàgina inicial
469
Pàgina final
476
DOI
https://doi.org/10.1016/j.ejcon.2013.09.005 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/21167 Obrir en finestra nova
Resum
This paper studies the robustness in the coordination - via energy-shaping - of multiple nonidentical flexible-joint robots with only joint position measurements. The control objective is to drive all manipulators link positions to the same constant equilibrium. If the physical parameters are exactly known, then a classical decentralized energy-shaping controller solves the desired control objective. However, under parameter uncertainty, the globally asymptotically stable equilibrium point is sh...
Citació
Nuño, E. [et al.]. Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements. "European journal of control", Desembre 2013, vol. 19, núm. 3, p. 469-476.
Grup de recerca
SIR - Service and Industrial Robotics

Participants