Switching Zone Control as a Distributed Controller

摘要

This report investigates the use of switching zone control (SZC) to control a multidegree of freedom robotic mechanism. Two powerful attributes of switching zone control are decentralization and near minimum time. The 'decentralized' property allows the use of a distributed control system where each motor/joint of a multilink mechanism is independently controlled, for example, by its own microprocessor. Overall control can also be accomplished with another microprocessor which would coordinate overall motions and communications. The coupling effects from other links and motors as well as random valued gravity and friction effects are handled as disturbing torques. The newly investigated work reported here deals with: (1) experimental results and verification of applying SZC to a multidegree of freedom robotic system; (2) real-time identification of gravity, friction, and other effects to adaptively compensate for nonzero steady-state disturbing torques; and (3) extension of SZC to systems with elastic joints. (rh)