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Model-based, Distributed, and Cooperative Control of Planar Serial-link Manipulators

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  • Control Theory and Applications
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Abstract

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.

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Authors and Affiliations

  1. Department of Instrumentation and Control Engineering, Manipal Institute of Technology, MAHE, Manipal, Karnataka, 596107, India

    S. Soumya

  2. Department of Mechanical Engineering, National Institute of Technology, Karnataka, Surathkal, Mangalore, 575025, India

    K. R. Guruprasad

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  1. S. Soumya
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Correspondence to K. R. Guruprasad.

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Recommended by Associate Editor Wei He under the direction of Editor Myo Taeg Lim.

S. Soumya received her Ph.D. degree from the National Institute of Technology Karnataka, Surathkal, India. She is with the Department of Instrumentation and Control Engineering at Manipal Institute of Technology, Manipal, India. Her research interest includes manipulator dynamics and control.

K. R. Guruprasad received his Ph.D. degree from the Indian Institute of Science, Bengaluru, India. He is with the Department of Mechanical Engineering, National Institute of Technology Karnataka, Surathkal India. His research interests include control, motion planning, and multirobotic systems.

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Soumya, S., Guruprasad, K.R. Model-based, Distributed, and Cooperative Control of Planar Serial-link Manipulators. Int. J. Control Autom. Syst. 19, 850–863 (2021). https://doi.org/10.1007/s12555-020-0031-7

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