Ultimate robust performance control of rigid robot manipulators using interval arithmetic

Andrea Giusti, Matthias Althoff

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

10 Scopus citations

Abstract

We propose a new method for controlling rigid robot manipulators guaranteeing that a user-defined tracking performance is ultimately met while facing uncertain system dynamics and input disturbance. Our control approach is based on the passivity-based control technique and eliminates the limitations of existing methods (e.g. impractical tuning to avoid chattering and difficult estimation of uncertainty bounds of disturbances) through the use of interval arithmetic. Our controller guarantees to meet the tracking performance when considering input disturbance with unknown bounds. Additionally, our approach can be used for on-the-fly controller synthesis, which makes it especially appealing for robust control of modular and reconfigurable robot manipulators. Finally, we present simulation results and a comparison with the r-α tracking controller that shows the superior performance of our proposed method when considering a realistic scenario with limited sampling rate.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2995-3001
Number of pages7
ISBN (Electronic)9781467386821
DOIs
StatePublished - 28 Jul 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: 6 Jul 20168 Jul 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Conference

Conference2016 American Control Conference, ACC 2016
Country/TerritoryUnited States
CityBoston
Period6/07/168/07/16

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