Control of closed kinematic chains: a comparative study

Author

Wang, Zhiyong ; Ghorbel, Fathi H.

Author_Institution

Dept. of Mech. Eng. & Material Sci., Rice Univ., Houston, TX

fYear

2006

fDate

14-16 June 2006

Abstract

Unlike in the case of open kinematic chains (OKCs), where the stability results for many control schemes are well established, for general closed kinematic chains (CKCs), rigorous stability results are rare. In this paper, we compare our recently developed control method, namely the singular perturbation formulation (SPF), to a control method based on input-output linearization (IOL) of a differential algebraic equation (DAE) model of CKCs. We show the advantages and disadvantages of each method from a theoretical as well as an implementation standpoint. The comparison indicates that our SPF approach is superior in terms of large validity domain, ease of control, implementation, and good performance of the closed-loop system

Keywords

closed loop systems; differential algebraic equations; input-output stability; kinematics; linearisation techniques; singularly perturbed systems; DAE model; closed kinematic chain control; closed loop system; differential algebraic equation; input-output linearization; open kinematic chain; singular perturbation formulation; stability control; Acceleration; Aerospace simulation; Control design; Control systems; Differential algebraic equations; Kinematics; Materials science and technology; Mechanical engineering; Payloads; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2006

Conference_Location

Minneapolis, MN

Print_ISBN

1-4244-0209-3

Electronic_ISBN

1-4244-0209-3

Type

conf

DOI

10.1109/ACC.2006.1656597

Filename

1656597