elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic

Calzolari, Davide and Giordano, Alessandro Massimo and 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), pp. 1231-1238. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2967315. ISSN 2377-3766.

Full text not available from this repository.

Abstract

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.

Item URL in elib:https://elib.dlr.de/134024/
Document Type:Article
Title:Error Bounds for PD-Controlled Mechanical Systems Under Bounded Disturbances Using Interval Arithmetic
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Calzolari, DavideDavide.Calzolari (at) dlr.deUNSPECIFIED
Giordano, Alessandro MassimoAlessandro.Giordano (at) dlr.dehttps://orcid.org/0000-0003-2291-7525
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:17 January 2020
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:5
DOI :10.1109/LRA.2020.2967315
Page Range:pp. 1231-1238
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Series Name:IEEE Xplore Digital
ISSN:2377-3766
Status:Published
Keywords:Performance evaluation and benchmarking, industrial robots, PD control, disturbance bounds, invariant sets
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 - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:10 Feb 2020 12:46
Last Modified:04 Aug 2020 12:11

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.