Global exponential stabilizability for distributed manipulation systems
- Creators
- Murphey, T. D.
- Burdick, J. W.
Abstract
Considers the global exponential stability of planar distributed manipulation control schemes. The programmable vector field approach is a commonly proposed method for distributed manipulation control. The authors (2001) showed that when one takes into account the discreteness of actuator arrays and the mechanics of actuator/object contact, the controls designed by the programmable vector field approach can be unstable at the desired equilibrium configuration. We show here how a discontinuous feedback law that locally stabilizes the manipulated object at the equilibrium can be combined with the programmable vector field approach to control the object's motions. We prove that the combined system is globally exponentially stabilizable even in the presence of changes in contact state. Simulations illustrate the results.
Additional Information
© 2002 IEEE. This work was partially supported by a grant from the National Science Foundation (grant NSF9402726) through its Engineering Research Center (ERC) program.Attached Files
Published - 01014708.pdf
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Additional details
- Eprint ID
- 96685
- Resolver ID
- CaltechAUTHORS:20190625-091014567
- EEC-9402726
- NSF
- Created
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2019-06-25Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field