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

S. Soumya and K. R. Guruprasad*
International Journal of Control, Automation, and Systems, vol. 19, no. 2, pp.850-863, 2021

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.

Keyword : Distributed cooperative control, joint-level controller, manipulator dynamics, multi-agent systems

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