A sequential distributed variable structure controller for a tentacle arm

Author

Ivanescu, M. ; Stoian, V.

Author_Institution

Autom. & Comput. Dept., Craiova Univ., Romania

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

3701

Abstract

The paper presents a new controller for a tentacle arm based on the viscosity control of the ER-fluids by an electrical field. The dynamic model of the arm is determined and an approximate model is proposed. The motion control is determined as a conventional control of the fluid pressure and as a viscosity control on the switching manifolds. The stability of the motion is proved and the conditions of the trajectory control on the switching manifolds are determined. Two viscosity control procedures are used: a lumped control and a sequential distributed control which allows the decomposition of the system in a finite number of a lower dimension problems. The numerical simulations are presented

Keywords

distributed control; electrorheology; manipulators; motion control; position control; pressure control; variable structure systems; viscosity; ER-fluids; approximate model; fluid pressure control; lumped control; motion control; sequential distributed variable structure controller; switching manifolds; tentacle arm; trajectory control; viscosity control; Automatic control; Centralized control; Distributed control; Electric variables control; Electrodes; Erbium; Motion control; Pressure control; Stability; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509277

Filename

509277