2P1-B36 Development of Decentralized Control method Simulator by using Distributed System Configuration Toolkit

2006 ◽  
Vol 2006 (0) ◽  
pp. _2P1-B36_1-_2P1-B36_4
Author(s):  
Mitsunobu TERAMOTO ◽  
Toshifumi SATAKE ◽  
Akihiro HAYASHI
Keyword(s):  
Distributed System ◽  
Decentralized Control ◽  
Control Method ◽  
System Configuration

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Decentralized Control Method of Multi-UAVs Arriving at the Same Time under the Influence of Wind

2013 ◽  
Vol 336-338 ◽  
pp. 595-598
Author(s):  
Xia Chen ◽  
Chong Zhang
Keyword(s):  
Control Problem ◽  
Decentralized Control ◽  
Control Method ◽  
Starting Point ◽  
Wind Simulation ◽  
Simulation Results ◽  
Multi Uav

Decentralized control method of multi-uav arriving at the same time is a typical control problem. This paper considers the above problem and presents a decentralized control method. Considering the dynamics and uncertainty of the battlefront, and the feature of the uav, according to the different starting point, flying orientation, and distance, established the algorithm model of the velocity and direction of uav under the influence of wind, presenting a decentralize control method of multi-uav arriving at the same time under the influence of wind. Simulation results are presented to demonstrate the effectiveness, robustness, flexibility of the approach.

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