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Globally Optimized H∞-Controllers with Application to Elastic Robots

Löhning, Matthias (2009) Globally Optimized H∞-Controllers with Application to Elastic Robots. In: Proceedings of the European Control Conference, Seiten 3353-3358. European Control Conference , 23.-26. Aug. 2009, Budapest, Ungarn. ISBN 978 963 311 369 1.

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Kurzfassung

In H∞-controller synthesis the plant model has to be extended by weighted in-/output channels. With these weights the control requirements have to be specified in the frequendy domain. To fulfil time domain requirements a time consuming iterative procedure of choosing weighting filter, controller synthesis and closed loop performance analysis has to be done. In the paper this procedure is automated by global optimization. Instead of optimizing the coefficients of the weights directly, physically related parameters, for example gains and roll off frequencies, are optimized. Thus constraints in the frequency domain can easily be included in the gobal optimization. To improve the global optimization a new transformation is given how these physical parameters can be transformed into the weights coefficients. With the proposed setup, both time and frequency domain criteria can be used for the controller syhnthesis and alalysis. The freuqency domain critera are calculated based on a linear model, the time domain criteria are based on an arbitrary nonlinear model. The proposed procedure is applied to be an elastic robot. A new in-/output channel selection is proposed, which has much benefit compard to other studied structures. Some numerical aspecfts of the H∞-controller calculation in the context of the global optimization are given. The results have been experimentally proven on a robot testbed.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Globally Optimized H∞-Controllers with Application to Elastic Robots
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Löhning, MatthiasMatthias.Loehning@DLR.de
Datum:2009
Erschienen in:Proceedings of the European Control Conference
Referierte Publikation:Ja
In ISI Web of Science:Nein
Seitenbereich:Seiten 3353-3358
ISBN:978 963 311 369 1
Status:veröffentlicht
Stichwörter:robotics, controller
Veranstaltungstitel:European Control Conference
Veranstaltungsort:Budapest, Ungarn
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:23.-26. Aug. 2009
Veranstalter :EUCA
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Systemdynamik und Regelungstechnik (war Entwurfsorientierte Regelungstechnik)
Hinterlegt von: Monika Klauer
Hinterlegt am:14 Jan 2010 10:59
Letzte Änderung:15 Jan 2010 02:38

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