JOURNAL ARTICLE
Decentralised adaptive control of flexible joint robots
Abstract
Decentralised control has the advantages of requiring less computing resources than centralised control, and yields high speed operation, since the subsystem controllers are implemented in parallel. A decentralised adaptive control method for flexible joint robots is presented here by combining recent results on decentralised adaptive control for rigid body robots and singular perturbation theory. Neither acceleration nor jerk information are needed.
Keywords:
Robot Joint (building) Computer science Control (management) Adaptive control Robot control Control engineering Mobile robot Control theory (sociology) Artificial intelligence Engineering Structural engineering
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Topics
Distributed Control Multi-Agent Systems
Physical Sciences → Computer Science → Computer Networks and Communications
Adaptive Control of Nonlinear Systems
Physical Sciences → Engineering → Control and Systems Engineering
Stability and Controllability of Differential Equations
Physical Sciences → Engineering → Control and Systems Engineering
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