In 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.

中文翻译：

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平面串行链路机械手的基于模型的分布式协同控制

在本文中，我们为具有旋转关节的平面串行链接机械手提出了一种新颖的分布式控制方案。该控制方案基于传统的基于模型的非线性控制方案，通过反馈实现线性化。专用控制器控制机械手的每个关节，就像分散式机械手控制方案一样。然而，在所提出的控制方案中，关节级控制器进行通信和协作以解决链接之间的非线性动态耦合。所提出的控制方案可以达到基于模型的非线性控制方案的性能水平，同时通过在关节级控制器之间分配与控制律相关的计算负荷来减少计算提前期。