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dc.contributor.authorSoumya S.
dc.contributor.authorGuruprasad K.R.
dc.date.accessioned2021-05-05T10:27:35Z-
dc.date.available2021-05-05T10:27:35Z-
dc.date.issued2021
dc.identifier.citationInternational Journal of Control, Automation and Systems Vol. 19 , 2 , p. 850 - 863en_US
dc.identifier.urihttps://doi.org/10.1007/s12555-020-0031-7
dc.identifier.urihttp://idr.nitk.ac.in/jspui/handle/123456789/15647-
dc.description.abstractIn this paper, we propose a novel distributed control scheme for a planar serial-link manipulator with revolute joints. The control scheme is based on the conventional model-based nonlinear control scheme that achieves linearization by feedback. A dedicated controller controls each joint of the manipulator, as in the case of the decentralized manipulator control scheme. However, in the proposed control scheme, the joint-level controllers communicate and cooperate to account for the nonlinear dynamic coupling between the links. The proposed control scheme can achieve the performance level of that of the model-based nonlinear control scheme, and at the same time, reduce the computational lead-time by distributing the computational load associated with the control law among the joint-level controllers. We design a distributed cooperative control law for a three-link planar manipulator and demonstrate its trajectory tracking performance using simulation experiments. © 2020, ICROS, KIEE and Springer.en_US
dc.titleModel-based, Distributed, and Cooperative Control of Planar Serial-link Manipulatorsen_US
dc.typeArticleen_US
Appears in Collections:1. Journal Articles

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