Title :
A decentralized control strategy for an agonistic system
Author :
Yang, Daqing ; Friedland, Bernard
Author_Institution :
Dept. of Electr. & Comput. Eng., New Jersey Inst. of Technol., Newark, NJ, USA
Abstract :
Agonistic control is a novel method of motion control. The workpiece is pulled by multiple tendons, each controlled by its own actuator. In this paper, a decentralized control scheme is presented. A simple linear second order model is used instead of complex nonlinear model used in the centralized version. The control scheme presented in this paper embodies a key concept: the total torque is the superposition of the base value and the correction value. The base torque serves to establish the dynamic equilibrium point and keeps the tendons in tension. The correction torque is responsible for the movement of the workpiece. The tension in each tendon is treated as a disturbance, estimated by an observer, to be compensated
Keywords :
compensation; control system synthesis; decentralised control; motion control; observers; torque control; agonistic system; base torque; decentralized control strategy; dynamic equilibrium point; linear second order model; motion control; observer; tendons; Actuators; Centralized control; Control systems; Distributed control; Dynamic equilibrium; Motion control; Performance analysis; Robot kinematics; Tendons; Torque control;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.609125