Shu, Anton und Deutschmann, Bastian und Dietrich, Alexander und Ott, Christian und Albu-Schäffer, Alin (2018) Robust H∞ control of a tendon driven-elastic continuum mechanism via a systematic description of nonlinearities. IFAC-PapersOnLine, 51 (22), Seiten 386-392. IFAC Secretariat. doi: 10.1016/j.ifacol.2018.11.572. ISSN 2405-8963.
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Offizielle URL: https://www.sciencedirect.com/science/article/pii/S2405896318332786
Kurzfassung
This work treats the pose control of an underactuated elastic continuum mechanism via a linear H ∞ approach. To incorporate the nonlinearities into the linear design method, a systematic framework is proposed that describes the nonlinear part of the system as uncertainty in a parameter-affine state-space description. With the established description of the nonlinear system, a robust H ∞ controller is synthesized applying the structured singular value framework. The designed controller is evaluated in simulation and hardware experiments on the Elastic Continuum Mechanism (ECM) used as a robotic neck of DLR s humanoid robot David. The robust controller designed under consideration of the systematic treatment of nonlinearities is able to stabilize the system for a reference step with negligible inaccuracy which is superior to a comparable conventional mixed synthesis H ∞ controller or a simple P D design.
elib-URL des Eintrags: | https://elib.dlr.de/124702/ | ||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
Titel: | Robust H∞ control of a tendon driven-elastic continuum mechanism via a systematic description of nonlinearities | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||||||
Erschienen in: | IFAC-PapersOnLine | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
Band: | 51 | ||||||||||||||||||||||||
DOI: | 10.1016/j.ifacol.2018.11.572 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 386-392 | ||||||||||||||||||||||||
Herausgeber: |
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Verlag: | IFAC Secretariat | ||||||||||||||||||||||||
Name der Reihe: | 12th IFAC Symposium on Robot Control SYROCO 2018 Budapest, Hungary, 27–30 August 2018 | ||||||||||||||||||||||||
ISSN: | 2405-8963 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Robust Robot Control, Humanoids Robots, H ∞ control, Underactuated Systems | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Robotdynamik & Simulation (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Systeme | ||||||||||||||||||||||||
Hinterlegt von: | Shu, Anton Leonhard | ||||||||||||||||||||||||
Hinterlegt am: | 16 Dez 2018 23:33 | ||||||||||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:22 |
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