.png){kind=icon}
返回
Enhancing controller performance for robot positioning in a constrained environment
.png){kind=icon}
PRE
AI
DOI：10.1109/TCST.2007.916324.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The paper deals with the problem of positioning. a manipulator in a cluttered environment while avoiding collision with obstacles. Recently a control strategy based on invariant sets has been introduced by some of the authors: it consists of covering the configuration space by means of a connected family of polyhedral regions which can be rendered controlled-invariant. Each of these regions includes some crossing points to the confining (and partially overlapping) regions. The control is hierarchically structured: a high-level controller establishes a proper sequence of regions to be crossed to reach the one in which the target configuration is included. A low-level controller solves the problem of tracking, within a region, the crossing point to the next confining region and, eventually, tracking the reference whenever it is included in the current one. Here we focus on the low-level controller, providing two novel contributions: first we extend the previous results, based on a vertex representation of the polyhedral sets, to the face representation which is more natural and offers significant computational advantages for on-line implementation; second, we provide a new low-level speed-saturated controller in order to improve the performance of the previous one in terms of convergence speed. We also investigate the robustness of the proposed controller. Experimental results on a Cartesian robot are provided.
Keyword:
hierarchical systems
invariance
Lyapunov methods
manipulator motion-planning
robustness
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
3.9
论文数:
4.9K
被引数:
1.7W
机构
引用论文
.png){kind=icon}
分享收藏
查看更多内容