Abstract
In this paper, we propose a new cooperative control method for multiple robotic systems that eliminates several issues in the discentralized control method. The proposed control method is constructed by extending a Passive Velocity Field Control (PVFC). It is easy to guarantee the stability in control, because the PVFC can keep the passivity of the controlled system. In this study, the cooperative control method is proposed and then it's stability is proven. Moreover, it is extended so as to control an internal force and to control a virtual time. Finally, the efficiency of the proposed cooperative control method are examined by computer simulations for cooperation tasks with two manipulators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEJ Transactions on Electronics, Information and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
