A Hybrid Control System for a Tentacle Arm

Nirvana Popescu, Decebal Popescu, Mircea Ivanescu

Abstract

The paper studies the control problem of a class of light- hyper-redundant robots, a tentacle arm, described by hyperbolic Partial Differential Equations with uncertain components. The stability analysis and the resulting controllers are obtained using the concept of boundary geometric control and a spatial weighted error control technique. A hybrid controller with two control components: a PD boundary control and a pneumatic system that controls the locking forces in the joints are discussed. Liapunov techniques are used to prove the control system stability. Numerical simulations and experimental results are also provided to verify the effectiveness of the presented approach.

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Paper Citation


in Harvard Style

Popescu N., Popescu D. and Ivanescu M. (2013). A Hybrid Control System for a Tentacle Arm . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 50-57. DOI: 10.5220/0004403200500057


in Bibtex Style

@conference{icinco13,
author={Nirvana Popescu and Decebal Popescu and Mircea Ivanescu},
title={A Hybrid Control System for a Tentacle Arm},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={50-57},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004403200500057},
isbn={978-989-8565-70-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Hybrid Control System for a Tentacle Arm
SN - 978-989-8565-70-9
AU - Popescu N.
AU - Popescu D.
AU - Ivanescu M.
PY - 2013
SP - 50
EP - 57
DO - 10.5220/0004403200500057