Modified virtual decomposition control for robotic mechanisms with mixed kinematic chains: a fully decentralized control algorithm

Conventional virtual decomposition control (VDC) is a Newton–Euler formulation-based distributed adaptive control algorithm dealing with complex robotic systems. However, the VDC has the following characteristics. Firstly, the algorithm should be implemented recursively, assuming a known force/momen...

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Veröffentlicht in:	International journal of dynamics and control 2024-03, Vol.12 (3), p.829-846
Hauptverfasser:	Al-Shuka, Hayder F. N., Mikolajczyk, Tadeusz
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Actuators Adaptive algorithms Adaptive control Chains Complexity Control Control algorithms Control and Systems Theory Control theory Decentralized control Decomposition Dynamical Systems Engineering Flow stability Kinematics Power flow Robot control Subsystems Vibration
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