Switching Zone Control as a Distributed Controller

Abstract

This report investigates the use of switching zone control (SZC) to control a multidegree of freedom robotic mechanism. Two powerful attributes of switching zone control are decentralization and near minimum time. The 'decentralized' property allows the use of a distributed control system where each motor/joint of a multilink mechanism is a independently controlled, for example, by its own microprocessor. Overall control can also be accomplished with another microprocessor which would coordinate overall motions and communications. The coupling effects from other links and motors as well as random valued gravity and friction effects are handled as disturbing torques. The newly investigated work reported here deals with: (1) experimental results and verification of applying SZC to a multidegree of freedom robotic system; (2) real-time identification of gravity, friction, and other effects to adaptively compensate for nonzero steady-state disturbing torques; and (3) extension of SZC to systems with elastic joints.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 1989
Accession Number
ADA208708

Entities

People

  • Ronald L. Racicot
  • Sheldon S. Chang

Organizations

  • United States Army Armament Research, Development and Engineering Center

Tags

Communities of Interest

  • Autonomy
  • Cyber
  • Weapons Technologies

DTIC Thesaurus Topics

  • Air Force
  • Closed Loop Systems
  • Computers
  • Control Systems
  • Couplings
  • Diagrams
  • Engineering
  • Feedback
  • Joints
  • Microprocessors
  • Military Research
  • Personal Computers
  • Phase Diagrams
  • Security
  • Simulations
  • Steady State
  • Switching

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control