Decentralized Observer Design for Virtual Decomposition Control

Jukka-Pekka Humaloja, Janne Koivumäki, Lassi Paunonen, Jouni Mattila

Research output: Contribution to journalArticleScientificpeer-review

9 Citations (Scopus)
8 Downloads (Pure)

Abstract

In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an n-DoF open chain robotic manipulator. Descending from the VDC strategy, the proposed design is based on decomposing the n-DoF manipulator into subsystems, i.e., rigid links and joints, for which the decentralized controller-observer implementation can be done locally. Similar to VDC, the combined controller-observer design is passivity-based, and we show that it achieves semiglobal exponential convergence of the tracking error. The convergence analysis is carried out using Lyapunov functions based on the observer and controller error dynamics. The proposed design is demonstrated in a simulation study of a 2-DoF open chain robotic manipulator in the vertical plane.

Original languageEnglish
Pages (from-to)2529-2536
JournalIEEE Transactions on Automatic Control
Volume67
Issue number5
Early online dateMay 2021
DOIs
Publication statusPublished - May 2022
Publication typeA1 Journal article-refereed

Keywords

  • decentralized controller-observer design
  • Dynamics
  • Manipulator dynamics
  • nonlinear control
  • Nonlinear dynamical systems
  • Observers
  • Robots
  • Stability criteria
  • Torque
  • velocity observer
  • virtual decomposition control

Publication forum classification

  • Publication forum level 3

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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