Calzolari, Davide und Giordano, Alessandro Massimo und Albu-Schäffer, Alin Olimpiu (2020) Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic. IEEE Robotics and Automation Letters, 5 (2), Seiten 1231-1238. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2967315. ISSN 2377-3766.
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Kurzfassung
We present a numerical algorithm based on invariant set theory to evaluate the worst-case performance of PD-controlled mechanical systems affected by bounded disturbances. By performing a specific coordinate transformation, the search and computation of positive invariant sets is simplified. It is shown that, thanks to the preservation of problem structure, the proposed method allows to obtain tight, component-wise bounds on the states, which are especially useful for performance evaluation and tuning of a PD controller. The bounds are formally guaranteed and can be used for safety certification. The method is compared to ultimate boundedness, and the superior results are shown via numerical simulations.
elib-URL des Eintrags: | https://elib.dlr.de/134024/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic | ||||||||||||||||
Autoren: |
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Datum: | 17 Januar 2020 | ||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 5 | ||||||||||||||||
DOI: | 10.1109/LRA.2020.2967315 | ||||||||||||||||
Seitenbereich: | Seiten 1231-1238 | ||||||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||
Name der Reihe: | IEEE Xplore Digital | ||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Performance evaluation and benchmarking, industrial robots, PD control, disturbance bounds, invariant sets | ||||||||||||||||
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 - On-Orbit Servicing [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||
Hinterlegt am: | 10 Feb 2020 12:46 | ||||||||||||||||
Letzte Änderung: | 24 Okt 2023 12:46 |
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