Efficient computation of interval-arithmetic-based robust controllers for rigid robots

Andrea Giusti, Matthias Althoff

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

We propose a method for efficient numerical computation of interval-Arithmetic-based robust controllers for rigid robot manipulators. The use of interval arithmetic for robust control is the core of a recently proposed approach which allows a user-defined tracking performance to be ultimately met despite uncertain models and input disturbance, without requiring an empirical estimation of bounds of perturbations from uncertain system dynamics. Our proposed algorithm combines a modified recursive Newton-Euler scheme with interval arithmetic computations to automatically obtain formally guaranteed over-Approximative estimations of perturbing torques/forces arising from imperfect knowledge of dynamic model parameters. The resulting algorithm has linear computational complexity and can be used online. We validate the applicability of our proposed method with simulations and tests on a commercially available real-Time target computer.

Original languageEnglish
Title of host publicationProceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages129-135
Number of pages7
ISBN (Electronic)9781509067237
DOIs
StatePublished - 11 May 2017
Event1st IEEE International Conference on Robotic Computing, IRC 2017 - Taichung, Taiwan, Province of China
Duration: 10 Apr 201712 Apr 2017

Publication series

NameProceedings - 2017 1st IEEE International Conference on Robotic Computing, IRC 2017

Conference

Conference1st IEEE International Conference on Robotic Computing, IRC 2017
Country/TerritoryTaiwan, Province of China
CityTaichung
Period10/04/1712/04/17

Keywords

  • Efficient computation
  • Interval arithmetic
  • Robot manipulators
  • Robust control

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