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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. ISSN 2405-8963.

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


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
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Shu, AntonUNSPECIFIEDhttps://orcid.org/0000-0002-8825-6697UNSPECIFIED
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Dietrich, AlexanderUNSPECIFIEDhttps://orcid.org/0000-0003-3463-5074UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074142115778
Journal or Publication Title:IFAC-PapersOnLine
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 386-392
EditorsEmailEditor's ORCID iDORCID Put Code
Publisher:IFAC Secretariat
Series Name:12th IFAC Symposium on Robot Control SYROCO 2018 Budapest, Hungary, 27–30 August 2018
Keywords:Robust Robot Control, Humanoids Robots, H ∞ control, Underactuated Systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Robotdynamik & Simulation (old)
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:11 Sep 2023 13:22

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