Decentralized control strategy for an agonistic system

Document Type

Conference Proceeding

Publication Date

1-1-1997

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.

Identifier

0030693507 (Scopus)

Publication Title

Proceedings of the American Control Conference

ISSN

07431619

First Page

2386

Last Page

2387

Volume

4

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