Decentralized control strategy for an agonistic system

Daqing Yang, Bernard Friedland

Research output: Contribution to journalConference articlepeer-review


Agonistic control is a novel method of motion control. The workpiece is pulled by multiple tendons, each controlled by its own actuator. In this paper, a decentralized control scheme is presented. A simple linear second order model is used instead of complex nonlinear model used in the centralized version. The control scheme presented in this paper embodies a key concept: the total torque is the superposition of the base value and the correction value. The base torque serves to establish the dynamic equilibrium point and keeps the tendons in tension. The correction torque is responsible for the movement of the workpiece. The tension in each tendon is treated as a disturbance, estimated by an observer, to be compensated.

Original languageEnglish (US)
Pages (from-to)2386-2387
Number of pages2
JournalProceedings of the American Control Conference
StatePublished - 1997
EventProceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA
Duration: Jun 4 1997Jun 6 1997

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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