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/ | ||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||
Title: | Robust H∞ control of a tendon driven--elastic continuum mechanism via a systematic description of nonlinearities | ||||||||||||||||||
Authors: |
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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: |
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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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