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Robust H∞ control of a tendon driven--elastic continuum mechanism via a systematic description of nonlinearities

Shu, Anton and Deutschmann, Bastian and Dietrich, Alexander and Ott, Christian and Albu-Schäffer, Alin (2018) Robust H∞ control of a tendon driven--elastic continuum mechanism via a systematic description of nonlinearities. IFAC-PapersOnLine, 51 (22), pp. 386-392. IFAC Secretariat. DOI: 10.1016/j.ifacol.2018.11.572 ISBN 2405-8963 ISSN 2405-8963

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Official URL: https://www.sciencedirect.com/science/article/pii/S2405896318332786

Abstract

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.

Item URL in elib:https://elib.dlr.de/124702/
Document Type:Article
Title:Robust H∞ control of a tendon driven--elastic continuum mechanism via a systematic description of nonlinearities
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Shu, Antonanton.shu (at) dlr.dehttps://orcid.org/0000-0002-8825-6697
Deutschmann, Bastianbastian.deutschmann (at) dlr.dehttps://orcid.org/0000-0002-9139-5719
Dietrich, AlexanderAlexander.Dietrich (at) dlr.dehttps://orcid.org/0000-0003-3463-5074
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0001-5343-9074
Date:2018
Journal or Publication Title:IFAC-PapersOnLine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:51
DOI :10.1016/j.ifacol.2018.11.572
Page Range:pp. 386-392
Editors:
EditorsEmail
Niitsuma, MihokoUNSPECIFIED
Publisher:IFAC Secretariat
Series Name:12th IFAC Symposium on Robot Control SYROCO 2018 Budapest, Hungary, 27–30 August 2018
ISSN:2405-8963
ISBN:2405-8963
Status:Published
Keywords:Robust Robot Control, Humanoids Robots, H ∞ control, Underactuated Systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Shu, Anton Leonhard
Deposited On:16 Dec 2018 23:33
Last Modified:16 Dec 2018 23:33

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