Feedback Control for Distributed Manipulation

Abstract

We consider the feedback stabilization of a part being manipulated by a distributed array of actuators. Previously, the authors showed that open loop methods based on programmable vector fields can lead to unstable dynamics, particularly when the effects of rolling and sliding against actuators play a significant role in the dynamics. We show here how to incorporate these factors into the design of feedback laws in order to stabilize the manipulated object to an equilibrium. Experiments on a test-bed illustrate the results.

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