TY - GEN
T1 - Ultimate robust performance control of rigid robot manipulators using interval arithmetic
AU - Giusti, Andrea
AU - Althoff, Matthias
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84992144080&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7525375
DO - 10.1109/ACC.2016.7525375
M3 - Conference contribution
AN - SCOPUS:84992144080
T3 - Proceedings of the American Control Conference
SP - 2995
EP - 3001
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -